End-effected upper limb rehabilitation device

Abstract

The application discloses a terminal traction type upper limb rehabilitation device, which comprises a base, a main base plate arranged on the base, a horizontal rotation base installed on the main base plate, a U-shaped structure composed of a horizontal rotation plate and two first adapter plates, a first servo drive module installed on the main base plate, the first servo drive module connected with the horizontal rotation plate, two second servo drive modules installed on the top of the two first adapter plates, two long connecting rods of a connecting rod mechanism connected with the two second servo drive modules respectively, a driven arm support assembly connected with the end of the connecting rod mechanism, the driven arm support assembly comprising a terminal connecting rod, one end of the terminal connecting rod connected with the connecting rod mechanism through an X-direction rotation freedom mechanism, the other end of the terminal connecting rod connected with a handle arm support through a spherical three-freedom mechanism, and the handle arm support capable of rotating around the rotation center of the spherical three-freedom mechanism in X, Y and Z directions. The application can meet the activity space and freedom of the human upper limbs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation medical robots, in particular to an end-pulling type upper limb rehabilitation device. BACKGROUND

[0002] With the rapid aging of society, the number of people with limb dysfunction caused by cardiovascular and cerebrovascular diseases also increases year by year, among which stroke is the most common one. Because the central nervous system of the human upper limb is closer to the brain, and the upper limb movement is more variable, most stroke patients cannot effectively control their limbs, especially the human upper limb.

[0003] The treatment of hemiplegia symptoms after stroke mainly relies on drug treatment and traditional medical treatment, and the repeated rehabilitation training after treatment is a very effective method for treating hemiplegia symptoms. Traditional rehabilitation treatment mainly relies on the personal experience and physical limitations of the therapist to help patients with rehabilitation training, so as to achieve rehabilitation treatment. In the whole rehabilitation training process, it is too dependent on the personal experience and physical limitations of the therapist, lacks accurate rehabilitation evaluation system, and it is difficult to make detailed rehabilitation treatment plan for the next step.

[0004] Chinese patent application CN113476275A discloses a parallel cable-driven upper limb rehabilitation robot capable of realizing cable fixed-point output. The rehabilitation patient sits in the support frame, the wrist is connected with the T-shaped table, and the T-shaped table is driven by the rope to drive the affected limb to realize rehabilitation training. Although the above-mentioned application can provide rehabilitation training for the rehabilitation patient, the complete equipment occupies a large area, the patient needs to enter the equipment during the rehabilitation preparation stage, the parallel cable driving range and the upper limb activity range coverage are limited, and the like.

[0005] Therefore, it is of great significance to design a device that is convenient to move, can pull the upper limb to perform rehabilitation movement in the complete activity space, and performs gravity compensation on the driving mechanism to improve the corresponding speed of the system. SUMMARY

[0006] To solve the above-mentioned problems in the prior art, the present application provides an end-pulling type upper limb rehabilitation device, which is simple in structure, convenient to use, controllable in rehabilitation movement strength, and high in matching degree of pulling activity range and upper limb activity space.

[0007] To achieve the above technical purposes, the technical scheme adopted by the present application is:

[0008] The utility model provides an end traction type upper limb rehabilitation equipment, including base, which is equipped with main body base plate, and the main body base plate is equipped with horizontal rotation base plate, and the horizontal rotation base plate is fixedly connected by horizontal rotation plate and two first adapter plates and constitutes U type structure, and the main body base plate is equipped with first servo drive module, and the first servo drive module is connected with horizontal rotation plate, and the top of two first adapter plates is equipped with second servo drive module respectively, and two second servo drive module is connected with two long connecting rods of connecting rod mechanism respectively, and the end of connecting rod mechanism is connected with driven arm support assembly, and the driven arm support assembly includes end connecting rod, and one end of end connecting rod is connected with connecting rod mechanism through X direction rotation freedom mechanism, and the other end is connected with handlebar arm support through spherical three freedom mechanism, and handlebar arm support can make X, Y, Z three direction driven rotation around the rotation center of spherical three freedom mechanism.

[0009] Further, the second servo drive module includes a servo motor, a harmonic reducer, a torque sensor, an output flange, and a second adapter plate. The servo motor and the rigid wheel of the harmonic reducer are fixedly connected through the first adapter plate. The output shaft of the servo motor is connected with the wave generator of the harmonic reducer. The flexible wheel of the harmonic reducer is connected with the torque sensor through the second adapter plate. The torque sensor is connected with the output flange. The first servo drive module and the second servo drive module are the same. The servo motor of the first servo drive module is fixedly connected with the rigid wheel of the harmonic reducer through the main body base plate. The output flange of the first servo drive module is connected with the horizontal rotation plate.

[0010] Further, the connecting rod mechanism includes a short connecting rod, a crank rod, a long connecting rod one, and a long connecting rod two. The upper end of the long connecting rod one is hingedly connected with one end of the short connecting rod. The lower end is fixedly connected with the output flange of the second servo drive module arranged on the right side. The upper end of the long connecting rod two is hingedly connected with the other end of the short connecting rod. The lower end is hingedly connected with one end of the crank rod. The other end of the crank rod is fixedly connected with the output flange of the second servo drive module arranged on the left side.

[0011] Further, the long connecting rod one is composed of a long rod, a long rod top joint, and a long rod joint one fixed at both ends of the long rod. The long connecting rod two is composed of a long rod, a long rod top joint, and a long rod joint two fixed at both ends of the long rod. The short connecting rod includes a short rod. Both ends of the short rod are respectively provided with a hinged seat one and a hinged seat two. The long rod top joint of the long connecting rod one is hingedly connected with the hinged seat one of the short connecting rod. The long rod top joint of the long connecting rod two is hingedly connected with the hinged seat two of the short connecting rod. The long rod joint two of the long connecting rod two is hingedly connected with the crank rod. The long rod joint one of the long connecting rod one is fixedly connected with the output flange of the drive module arranged on the right side. The rotation center of the crank rod and the long rod joint one is coaxially arranged.

[0012] Further, the end of the hinged seat two of the short connecting rod is provided with a short rod joint. The short rod joint is used for connecting the driven arm support assembly.

[0013] Further, the spherical three-freedom degree mechanism comprises an upper connecting plate, rotating rods, an upper rotating disc, a middle rotating disc, a lower rotating disc and a rotating base; the rotating rods are three in number, one end of each of the rotating rods is connected to the upper connecting plate through a rotating pair, the other end of each of the rotating rods is connected to a disc extension interface position of the upper rotating disc, the middle rotating disc and the lower rotating disc through a rotating pair respectively, the upper rotating disc, the middle rotating disc and the lower rotating disc are connected to the rotating base through bearings respectively and are coaxially arranged with the rotating center, a handle arm support is installed on the top surface of the upper connecting plate through fasteners, the handle arm support can be driven to rotate in X, Y and Z directions with the upper connecting plate in the rotating center, and the rotating base of the spherical three-freedom degree mechanism is connected to the end connecting rod.

[0014] Further, the X-direction rotating freedom degree mechanism comprises an X-direction driven rotating seat, an X-direction rotating shaft, an X-direction driven rotating seat upper cover and an X-direction driven rotating seat lower cover; one end of the X-direction rotating shaft is fixedly connected to the end of the connecting rod mechanism, the other end of the X-direction rotating shaft is connected to the X-direction driven rotating seat through bearing cooperation, the X-direction driven rotating seat can be freely rotated along the X-axis direction; the two ends of the X-direction rotating shaft are connected to the X-direction driven rotating seat upper cover and the X-direction driven rotating seat lower cover respectively; and the X-direction driven rotating seat is connected to the end connecting rod below.

[0015] Further, the X-direction rotating freedom degree mechanism is further provided with a locking structure, the locking structure comprises an X-direction insertion hole disc and a spring latch, the X-direction insertion hole disc is sleeved on the outer periphery of the X-direction rotating shaft and is locked and connected with the X-direction rotating shaft, a plurality of insertion holes are uniformly arranged on the outer periphery of the X-direction insertion hole disc in the circumferential direction, the spring latch is threadedly connected below the X-direction driven rotating seat, the axis of the spring latch is coaxially arranged with the axis of the insertion holes arranged on the circumferential direction of the X-direction insertion hole disc, when the spring latch is screwed upward and inserted into any insertion hole of the X-direction insertion hole disc, the X-direction driven rotating seat of the X-direction rotating freedom degree mechanism is locked.

[0016] Further, a spring gravity compensation assembly is further provided, comprising a compensation tension spring, a spring guide pipe, a spring guide pipe fixing seat, a pull rope and a pulley; the spring guide pipe fixing seat and the pulley are oppositely arranged and fixed on the horizontal rotating plate, two spring guide pipes are transversely arranged on the side of the spring guide pipe fixing seat away from the pulley, the compensation tension spring is connected in the spring guide pipe, the other end of the compensation tension spring is connected to the pull rope through an ear ring, the pull rope is stretched out from the other side of the spring guide pipe, passes through the pulley once and is fixed to the end of the connecting rod mechanism.

[0017] Further, the base further comprises an electric lifting column, an X-shaped bottom plate and lockable universal casters, the main body base plate is fixedly connected to the upper end of the electric lifting column, the lower end of the electric lifting column is fixedly connected to the upper surface of the X-shaped bottom plate, and the bottom of the X-shaped bottom plate is fixedly connected to the lockable universal casters.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] The device of the application can actively and flexibly guide the position of the end of the upper limb of the human body and passively and naturally conform to the movement of the upper limb, wherein the active degree of freedom can ensure that the device guides the movement track to cover the range of joint movement of the upper limb of the human body, and the passive degree of freedom can further improve the flexibility and safety of the guided movement track.

[0020] The device of the application can reduce the overall weight of the movement execution mechanism by arranging the driving assembly at the fixed end, and can compensate the influence of the self-weight of the system connecting rod and the end fixed load in advance by increasing the mechanical gravity compensation structure, thereby increasing the rapid response capability of the system.

[0021] The device of the application can realize the timely switching of the positive and negative parallelogram movement modes, and can adapt to the rehabilitation training requirements of the standing posture state (whole body cooperative rehabilitation) and the sitting posture state (single upper limb rehabilitation) respectively. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 is a schematic diagram of the overall structure of the positive parallelogram movement state of the application;

[0024] Figure 2 is a schematic diagram of the structure of the servo driving module of the application;

[0025] Figure 3 is a schematic diagram of the structure of the spring gravity compensation assembly and the connecting rod mechanism of the application;

[0026] Figure 4 is Figure 3 is an enlarged schematic diagram of the center line frame A;

[0027] Figure 5 is a schematic diagram of the long connecting rod structure of the application;

[0028] Figure 6 is a schematic diagram of the driven arm supporting assembly structure of the application;

[0029] Figure 7 is Figure 6 is a schematic diagram of the structure of the X-direction rotation degree of freedom mechanism;

[0030] Figure 8 is Figure 6 is a schematic diagram of the structure of the spherical three-degree-of-freedom mechanism;

[0031] Figure 9is a structural schematic diagram of the base of the present application;

[0032] Figure 10 is a schematic diagram of the anti-quadrilateral motion state of the present application.

[0033] Reference signs: 1-second servo drive module, 2-spring gravity compensation assembly, 3-driven arm support assembly, 4-linkage mechanism, 5-base; 11-servo motor, 12-harmonic reducer, 13-torque sensor, 14-output flange, 16-second adapter plate, 17-horizontal rotation base, 17.1-horizontal rotation plate, 15-first adapter plate; 21-compensation tension spring, 22-spring guide pipe, 23-fixing pin, 24-spring guide pipe fixing seat, 25-pull rope, 26-pulley; 31-end linkage, 32-spherical three-degree-of-freedom mechanism, 33-X-direction rotation degree-of-freedom mechanism, 34-spring plug, 35-grip arm support; 331-X-direction driven rotary seat, 332-X-direction rotary shaft, 333-X-direction plug-in disc, 334-X-direction driven rotary seat upper cover, 335-X-direction driven rotary seat lower cover; 41-short linkage, 42-crank rod, 43-long rod, 44-long rod top joint, 45-long linkage one, 46-long linkage two, 411-hinge seat one and hinge seat two, 412-, 413-short rod, 414-short rod joint, 451-long rod joint one, 461-long rod joint two; 51-electric lifting column, 52-main body base plate, 53-X-shaped bottom plate, 54-lockable universal caster. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0035] A terminal traction type upper limb rehabilitation device, such as Figures 1-9As shown, including base 5, base 5 is provided with the main substrate 52, the main substrate 52 is installed with horizontal rotation base 17, horizontal rotation base 17 is composed of two first adapter plate 15 and horizontal rotation plate 17.1 solid connection U-shaped structure, the main substrate 52 is installed with the first servo drive module, the first servo drive module connects horizontal rotation plate 17.1, two first adapter plate 15 top opposite installation of second servo drive module 1, two second servo drive module 1 is connected to the two parallel rods of connecting rod mechanism 4, respectively, the end of connecting rod mechanism 4 is connected to the driven arm support assembly 3; the driven arm support assembly 3 includes the end of the connecting rod 31, the end of the connecting rod 31 is connected to the connecting rod mechanism 4 through the X direction rotation freedom mechanism 33, the other end is connected to the handle arm support 35 through the spherical three degree of freedom mechanism 32, the handle arm support 35 can be around the spherical three degree of freedom mechanism 32 turning center X, Y, Z three direction driven rotation.

[0036] The second servo drive module 1 includes servo motor 11, harmonic reducer 12, torque sensor 13, output flange 14, second adapter plate 16, the servo motor 11 and harmonic reducer 12 rigid wheel through the first adapter plate 15 fixed connection, servo motor 11 output shaft and harmonic reducer wave 12 generator connection, harmonic reducer 12 flexible wheel and torque sensor 13 through the second adapter plate 16 connection, the torque sensor 13 and output flange 14, the torque sensor 13 can real-time acquisition of second servo drive module output torque or reverse input torque; the first servo drive module and second servo drive module composition is the same, the difference is that the servo motor of the first servo drive module and the rigid wheel of the harmonic reducer are fixedly connected through the main substrate 52, and the output flange of the first servo drive module is connected with the horizontal rotation plate 17.1.

[0037] The connecting rod mechanism 4 comprises a short connecting rod 41, a crank rod 42, a long connecting rod one 45, and a long connecting rod two 46. The upper end of the long connecting rod one 45 is hingedly connected with the short connecting rod 41, and the lower end is fixedly connected with the output flange 14 of the second servo drive module arranged on the right side. The upper end of the long connecting rod two 46 is hingedly connected with the short connecting rod 41, and the lower end is hingedly connected with one end of the crank rod 42. The other end of the crank rod 42 is fixedly connected with the output flange 14 of the second servo drive module arranged on the left side. Specifically, the long connecting rod one 45 is composed of a long rod 43 and a long rod top joint 44 and a long rod joint one 451 fixed at both ends of the long rod 43 respectively. The long connecting rod two 46 is composed of a long rod 43 and a long rod top joint 44 and a long rod joint two 461 fixed at both ends of the long rod 43 respectively. The short connecting rod 41 comprises a short rod 413, and both ends of the short rod 413 are respectively provided with a hinged seat one 411 and a hinged seat two 412. The long rod top joint 44 of the long connecting rod one 45 is hingedly connected with the hinged seat one 411 of the short connecting rod. The long rod top joint 44 of the long connecting rod two 46 is hingedly connected with the hinged seat two 412 of the short connecting rod. The long rod joint two 461 of the long connecting rod two 46 is hingedly connected with the crank rod 42. The long rod joint one 451 of the long connecting rod one 45 is fixedly connected with the output flange 14 of the second servo drive module arranged on the right side. The rotation center of the crank rod 42 and the long rod joint one 451 is coaxially arranged. The crank rod 42 and the long rod joint one 451 can be driven to rotate by the second servo drive module. The pose angle of the crank rod 42 and the long connecting rod one 45 is different, and a positive quadrilateral and a reverse quadrilateral can be formed. As shown in Figure 3 , if the long connecting rod one 45 is driven to rotate by the second servo drive module arranged on the right side, a positive quadrilateral motion state is formed. If the crank rod 42 is driven to rotate by the second servo drive module arranged on the left side, and the long connecting rod two 46 is driven to rotate, a reverse quadrilateral motion state is formed as shown in Figure 9 . The positive parallel quadrilateral motion mode can realize the rehabilitation training action in the standing posture of the human body (which is suitable for full-body coordinated rehabilitation). The reverse parallel quadrilateral motion mode can realize the single upper limb rehabilitation training motion in the sitting posture of the human body. The end of the hinged seat two 412 of the short connecting rod 41 is provided with a short rod joint 414, which is used for connecting the driven arm support assembly 3. Preferably, the short rod joint 414 is provided with two through holes, and is fastened and connected with the driven arm support assembly 3 through fasteners.

[0038] The driven arm support assembly 3 comprises a terminal connecting rod 31, a spherical three-degree-of-freedom mechanism 32, an X-direction rotation degree-of-freedom mechanism 33, and a handle arm support 35; one end of the terminal connecting rod 31 is connected to the short connecting rod joint 414 of the connecting rod mechanism 4 through the X-direction rotation degree-of-freedom mechanism 33, and the other end is connected to the handle arm support 35 through the spherical three-degree-of-freedom mechanism 32; the spherical three-degree-of-freedom mechanism 32 comprises an upper connecting plate 321, rotating rods 322, an upper rotating disc 323, a middle rotating disc 324, a lower rotating disc 325, and a rotating base 326; the rotating rods 322 are three in total, one end of each of the rotating rods 322 is connected to the upper connecting plate 321 through a rotating pair, and the other end of each of the rotating rods 322 is connected to the disc extension interface positions of the upper rotating disc 323, the middle rotating disc 324, and the lower rotating disc 325 through rotating pairs, respectively; the upper rotating disc 323, the middle rotating disc 324, and the lower rotating disc 325 are connected to the rotating base 326 through bearings and are coaxially arranged with the rotation centers, the handle arm support 35 is installed on the top surface of the upper connecting plate 321 through fasteners, and the handle arm support 35 can rotate in X, Y, and Z directions with the upper connecting plate 321 at the rotation center; the lower part of the rotating base 326 of the spherical three-degree-of-freedom mechanism 32 is provided with a connecting part connected to the terminal connecting rod 31, one end of the terminal connecting rod 31 is inserted into the connecting part, and the terminal connecting rod 31 is fixedly connected to the lower part of the spherical three-degree-of-freedom mechanism 32 through screw locking.

[0039] The X-direction rotation degree-of-freedom mechanism 33 comprises an X-direction driven rotating seat 331, an X-direction rotating shaft 332, an X-direction driven rotating seat upper cover 334, and an X-direction driven rotating seat lower cover 335; one end of the X-direction rotating shaft 332 is fixedly connected to the short connecting rod of the connecting rod mechanism 4, the other end of the X-direction rotating shaft 332 is connected to the X-direction driven rotating seat 331 through bearing cooperation, the X-direction driven rotating seat 331 can freely rotate along the X-axis direction; the two ends of the X-direction rotating shaft 332 are connected to the X-direction driven rotating seat upper cover 334 and the X-direction driven rotating seat lower cover 335, respectively; the X-direction driven rotating seat 331 is provided below with a first connecting part connected to the terminal connecting rod 31; one end of the terminal connecting rod 31 is inserted into the first connecting part, and the terminal connecting rod 31 is fixedly connected to the X-direction driven rotating seat 331 through screw locking.

[0040] The X-direction rotation freedom mechanism 33 is further provided with a locking structure, which comprises an X-direction jack disc 333 and a spring jack 34. The X-direction jack disc 333 is sleeved on the outer periphery of the X-direction rotating shaft 332 and is threadedly connected with the X-direction rotating shaft 332. The X-direction jack disc 333 is uniformly provided with a plurality of jacks on the outer periphery. The spring jack 34 is threadedly connected below the X-direction driven rotating seat 331. The axis of the spring jack 34 is coaxially arranged with the axis of the jack arranged on the X-direction jack disc 333. When the spring jack 34 is pulled out, the X-direction driven rotating seat 331 is unlocked from the X-direction jack disc 333, and the X-direction driven rotating seat 331 can freely rotate around the X-direction rotating shaft 332. When the X-direction driven rotating seat 331 is rotated to a certain position, the spring jack 34 can be inserted into any jack arranged on the X-direction jack disc 333. The X-direction jack disc 333 is in a locked state with the X-direction driven rotating seat 331, thereby limiting the free rotation of the X-direction driven rotating seat 331 relative to the X-direction rotating shaft 332. The X-direction jack disc 333 and the spring jack 34 can fix the X-direction driven rotating seat 331 at any angle position, thereby adjusting the positions of the end connecting rod 31, the spherical three-freedom mechanism 32 and the handle arm support 35, and facilitating the adaptation to the initial position of the patient.

[0041] The spring gravity compensation assembly 2 is further provided, which comprises a compensation tension spring 21, a spring guide pipe 22, a spring guide pipe fixing seat 24, a pull rope 25 and a pulley 26. The spring guide pipe fixing seat 24 and the pulley 26 are oppositely arranged and fixed on the horizontal rotating plate 17.1. Two spring guide pipes 22 are transversely arranged on the side of the spring guide pipe fixing seat 24 away from the pulley 26. The compensation tension spring 21 is connected in the spring guide pipe 22. The other end of the compensation tension spring 21 is connected with the pull rope 25 through an ear ring. The pull rope 25 is stretched out from the other side of the spring guide pipe 22, passes through the pulley 26 and is fixed at the end of the connecting rod mechanism. As an option, the spring guide pipe 22 is provided with a through hole on one side. A fixing pin 23 is arranged on the side of the through hole for fixing the other end of the compensation tension spring 21. As an option, the spring guide pipe fixing seat 24 comprises an upper seat and a lower seat. Two semicircular grooves are oppositely arranged on the opposite surfaces of the upper seat and the lower seat. The radius of the semicircular grooves is slightly smaller than the radius of the spring guide pipe. The upper seat and the lower seat are fixed by a locking member. Before the upper seat and the lower seat are locked, the spring guide pipe 22 can be moved along the axial direction. At this time, the pre-tightening force of the compensation tension spring 21 changes. After the upper seat and the lower seat are locked to fix the spring guide pipe at the required pre-tightening force, the position and the pre-tightening force are adjusted. After the components are installed and fixed, the pull rope 25 always contacts with the pulley 26. As an option, the pull rope 25 is a steel wire rope. The connecting rod mechanism 4 can pre-compensate the gravity of each connecting rod by the pulling force provided by the compensation tension spring 21, thereby improving the response speed of the motion system, reducing the output torque and improving the compliance control effect.

[0042] The base 5 further comprises an electric lifting column 51, an X-shaped bottom plate 53, and lockable universal casters 54, the lower surface of the main body base plate 52 is fixedly connected with the upper end of the electric lifting column 51, the lower end of the electric lifting column 51 is fixedly connected with the upper surface of the X-shaped bottom plate 53, and the bottom of the X-shaped bottom plate 53 is fixedly connected with the lockable universal casters 54; the electric lifting column can be adjusted in position up and down through a button control or an automatic control system; and the main body base plate 52 is provided with a plurality of groups of holes.

[0043] In order to better understand the working principle of the present application, the working process and the use method of the present application are described as follows:

[0044] The working process of the present application comprises a preparation process and a rehabilitation training process.

[0045] The preparation process comprises the following steps: firstly, according to the rehabilitation needs of the patient (single upper limb rehabilitation training in a sitting posture and whole body rehabilitation training in a standing posture), the device is switched to the corresponding movement mode (anti-parallel quadrilateral movement state or positive parallel quadrilateral movement state), at this time, the device is moved to the vicinity of the patient, the position, height and angle of the handle arm support are adjusted according to the position of the wrist joint when the patient lifts the affected limb horizontally, so that the patient can effectively hold the handle arm support in the initial position of the device, after the adjustment is completed, the universal casters are locked, and the device itself is no longer moved. Then, the axial position of the spring guide pipe in the spring guide pipe fixing seat is adjusted according to the size of the terminal fixed load and the weight of the connecting rod, until the device realizes gravity compensation under no power input, at this time the spring guide pipe is locked. Finally, the patient's hands are manually assisted to hold the end arm support, and after the confirmation is correct, the training can be started.

[0046] The rehabilitation training process can be divided into passive training, active-passive training and active training. The passive training refers to that in the early rehabilitation stage, when the upper limb of the patient cannot move autonomously, the robot provides complete assistance to drive the upper limb of the patient to help the patient complete the training action. Specifically, the first servo module and the second servo module adopt a position control mode, solve the real-time rotation angles of the short connecting rod and the long connecting rod according to the end predetermined rehabilitation trajectory, and drive the end connecting rod to drive the upper limb of the patient to perform passive rehabilitation training movement. The active-passive training refers to that when the patient has certain autonomous movement ability but the strength is insufficient to complete the training task, the robot provides auxiliary force to help the patient complete the training task in a weight-reduced state. Specifically, the first servo module and the second servo module adopt a torque control mode, the current size of the servo motor when the patient naturally holds the handle arm support is measured in real time, the motor torque size required for compensating the weight of the upper limb of the patient is obtained, and the connecting rod end can provide a spatial zero stiffness active-passive movement for balancing the gravity of the limb. The active training refers to that in the later rehabilitation stage, the patient has relatively comprehensive movement ability, and the designated task is completed by the patient autonomously to enhance the muscle strength and movement coordination. Specifically, the first servo module and the second servo module adopt a torque control mode, the torque size required for the servo module to drive the affected limb to return to the predetermined trajectory when the affected limb deviates from the end movement trajectory is calculated through impedance control, and the first servo module and the second servo module drive the short connecting rod and the long connecting rod of the device, and then drive the connecting rod end to complete active movement with adjustable damping.

[0047] The entire training process mainly provides planar movement of the handle arm support by the first servo module and the second servo module, meanwhile, the direction of the end connecting rod can be adjusted through the X-direction rotation freedom mechanism to adapt to the need of a larger range of working space, the end connecting rod is connected with a spherical three-degree-of-freedom rotation mechanism, the rotation movement requirement of the wrist joint in the training process can be met, and part of the freedom is released in human-computer interaction to ensure the safety of the rehabilitation training.

[0048] Of course, the present application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and modifications should all belong to the protection scope of the claims attached to the present application.

Claims

1. A distal traction upper limb rehabilitation device, comprising a base (5), characterized in that: The base (5) is provided with a main base plate (52), and a horizontal rotating base (17) is installed on the main base plate (52). The horizontal rotating base (17) is a U-shaped structure formed by a horizontal rotating plate (17.1) and two first adapter plates (15) fixedly connected. A first servo drive module is installed on the main base plate (52). The first servo drive module is connected to the horizontal rotating plate (17.1). A second servo drive module (1) is installed on the top of each of the two first adapter plates (15). The two second servo drive modules (1) are respectively connected to the two long connecting rods of the linkage mechanism (4). The mechanism (4) includes a short connecting rod (41), a crank rod (42), a first long connecting rod (45), and a second long connecting rod (46); the upper end of the first long connecting rod (45) is hinged to one end of the short connecting rod (41), and the lower end is fixedly connected to the output flange of the second servo drive module arranged on the right; the upper end of the second long connecting rod (46) is hinged to the other end of the short connecting rod (41), and the lower end is hinged to one end of the crank rod (42), the other end of the crank rod (42) is fixedly connected to the output flange of the second servo drive module arranged on the left; the end of the linkage mechanism (4) is connected to the driven boom support assembly (3); the linkage mechanism (4) It can switch between positive and negative parallelogram movement modes, respectively adapting to the needs of human body standing full-body coordinated rehabilitation and sitting single upper limb rehabilitation training; the driven arm support assembly (3) includes an end link (31), one end of the end link (31) is connected to the link mechanism (4) through the X-direction rotational degree of freedom mechanism (33), and the other end is connected to the grip arm support (35) through the spherical three-degree-of-freedom mechanism (32). The grip arm support (35) can perform driven rotation in the X, Y and Z directions around the rotational motion center of the spherical three-degree-of-freedom mechanism (32); The X-axis rotational degree-of-freedom mechanism (33) includes an X-axis driven rotating seat (331), an X-axis rotating shaft (332), an X-axis driven rotating seat upper cover (334), and an X-axis driven rotating seat lower cover (335); one end of the X-axis rotating shaft (332) is fixedly connected to the end of the linkage mechanism (4), and the other end of the X-axis rotating shaft (332) is connected to the X-axis driven rotating seat (331) through a bearing engagement, allowing the X-axis driven rotating seat (331) to rotate freely along the X-axis direction; the two ends of the X-axis rotating shaft (332) are respectively connected to the X-axis driven rotating seat upper cover (334) and the X-axis driven rotating seat lower cover (335); the end connecting rod (31) is connected below the X-axis driven rotating seat (331); the X-axis rotational degree-of-freedom mechanism (33) A locking structure is also provided, which includes an X-direction insertion plate (333) and a spring pin (34). The X-direction insertion plate (333) is sleeved on the outer circumference of the X-direction rotating shaft (332) and locked to the X-direction rotating shaft (332). Multiple insertion holes are evenly arranged on the outer circumference of the X-direction insertion plate (333). The spring pin (34) is threaded through and connected to the bottom of the X-direction driven rotating seat (331). The axis of the spring pin (34) is coaxial with the axis of the insertion holes arranged on the circumference of the X-direction insertion plate (333). When the spring pin (34) is screwed upward and inserted into any insertion hole of the X-direction insertion plate (333), the X-direction driven rotating seat (331) of the X-direction rotational degree of freedom mechanism (33) is locked. A spring gravity compensation assembly (2) is also provided, including a compensation tension spring (21), a spring guide tube (22), a spring guide tube fixing seat (24), a pull rope (25), and a pulley (26). The spring guide tube fixing seat (24) and the pulley (26) are arranged opposite to each other and fixed on a horizontal rotating plate (17.1). Two spring guide tubes (22) are transversely inserted on the side of the spring guide tube fixing seat (24) away from the pulley (26). The compensation tension spring (21) is connected inside the spring guide tube (22). The other end of the compensation tension spring (21) is connected to the pull rope (25) with an ear loop. The pull rope (25) extends out from the other side of the spring guide tube (22), goes around the pulley (26) once, and is fixed to the end of the linkage mechanism.

2. The distal traction upper limb rehabilitation device according to claim 1, characterized in that: The second servo drive module (1) includes a servo motor (11), a harmonic reducer (12), a torque sensor (13), an output flange (14), and a second adapter plate (16). The servo motor (11) and the rigid wheel of the harmonic reducer (12) are fixedly connected through the first adapter plate (15). The output shaft of the servo motor (11) is connected to the generator of the harmonic reducer (12). The flexible wheel of the harmonic reducer (12) is connected to the torque sensor (13) through the second adapter plate (16). The torque sensor (13) is connected to the output flange (14). The first servo drive module and the second servo drive module have the same composition. The servo motor of the first servo drive module and the rigid wheel of the harmonic reducer are fixedly connected through the main base plate (52). The output flange of the first servo drive module is connected to the horizontal rotating plate (17.1).

3. The distal traction upper limb rehabilitation device according to claim 2, characterized in that: The first long connecting rod (45) consists of a long rod (43) and long rod top joints (44) and long rod joint one (451) respectively fixed at both ends of the long rod (43); the second long connecting rod (46) consists of a long rod (43) and long rod top joints (44) and long rod joint two (461) respectively fixed at both ends of the long rod (43); the short connecting rod (41) includes a short rod (413), and the two ends of the short rod (413) are respectively provided with hinge seat one (411) and hinge seat two (412); the long connecting rod... The long rod top joint (44) of rod one (45) is hinged to the hinge seat one (411) of the short connecting rod, and the long rod top joint (44) of the long connecting rod two (46) is hinged to the hinge seat two (412) of the short connecting rod; the long rod joint two (461) of the long connecting rod two (46) is hinged to the crank rod (42), and the long rod joint one (451) of the long connecting rod one (45) is fixedly connected to the drive module output flange (14) arranged on the right side; the rotation centers of the crank rod (42) and the long rod joint one (451) are arranged coaxially.

4. The distal traction upper limb rehabilitation device according to claim 1, characterized in that: The end of the hinge seat 2 (412) of the short link (41) is provided with a short rod connector (414), which is used to connect the driven arm support assembly (3).

5. The distal traction upper limb rehabilitation device according to claim 1, characterized in that: The spherical three-degree-of-freedom mechanism (32) includes an upper plate (321), rotating rods (322), an upper rotating disk (323), a middle rotating disk (324), a lower rotating disk (325), and a rotating base (326). There are three rotating rods (322). One end of each rotating rod is connected to the upper plate (321) via a revolute joint, and the other end is connected to the disk extension interfaces of the upper rotating disk (323), the middle rotating disk (324), and the lower rotating disk (325) via revolute joints. The upper rotating disk (323), the middle rotating disk (324), and the lower rotating disk (325) are connected to the rotating base (326) through bearings and are arranged coaxially at the rotation center. The handle arm support (35) is installed on the top surface of the upper connecting plate (321) by fasteners. The handle arm support (35) can rotate in the X, Y, and Z directions with the upper connecting plate (321) at the rotation center. The end connecting rod (31) is connected below the rotating base (326) of the spherical three-degree-of-freedom mechanism (32).

6. The distal traction upper limb rehabilitation device according to claim 1, characterized in that: The base (5) also includes an electric lifting column (51), an X-shaped base plate (53), and lockable swivel casters (54). The lower part of the main base plate (52) is fixedly connected to the upper end of the electric lifting column (51), the lower end of the electric lifting column (51) is fixedly connected to the upper part of the X-shaped base plate (53), and the bottom of the X-shaped base plate (53) is fixedly connected to the lockable swivel casters (54).

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