Rope-driven upper limb rehabilitation robot and control method thereof

Abstract

The invention belongs to the technical field of rope-driven robots, and particularly relates to a rope-driven upper limb rehabilitation robot and a control method thereof. The rope-driven upper limb rehabilitation robot comprises a rehabilitation rack, rehabilitation installation modules symmetrically installed on the rehabilitation rack and exoskeleton rehabilitation arms installed on the rehabilitation installation modules. The shoulder joint abduction / adduction rehabilitation mechanism, the shoulder joint inner side / outer side rehabilitation mechanism and the shoulder joint flexion / extension rehabilitation mechanism are in driving connection with the corresponding far-end driving modules through rope driving assemblies. The rope drive assembly comprises a first idle wheel, a drive guide wheel set, a second idle wheel and a steel wire rope. Transmission among the three rope drive assemblies is independent and matched with one another, automatic and accurate control is facilitated, shoulder joint abduction / adduction rehabilitation, shoulder joint inner side / outer side and shoulder joint flexion / extension flexible driving are achieved, meanwhile, dynamic inertia of the rehabilitation arm in the training process is effectively reduced, and the rehabilitation effect is improved. And the service life and the use stability of the motor and the rehabilitation arm are ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of rope-driven robots, and in particular relates to a rope-driven upper limb rehabilitation robot and a control method thereof. Background Art

[0002] Early stroke rehabilitation treatment mainly relies on physical therapists, who help patients maintain basic muscle function and prevent muscle atrophy through some simple rehabilitation exercises. The current training method is mainly based on the theory of continuous passive activity. Physical therapists or rehabilitation physicians achieve the purpose of rehabilitation training by performing continuous passive movements on the upper limbs with movement disorders. Generally speaking, this process requires repetitive, slow and repetitive movements of the patient's upper limbs. However, facing a large patient population, the number of physical therapists is very short, and this manual training method increases the labor intensity of physical therapists and also occupies a lot of social resources. Applying robots to the process of upper limb rehabilitation of patients, assisting or replacing rehabilitation physicians in rehabilitation training, can effectively reduce the workload of physicians and improve rehabilitation effects. It is an important development direction of rehabilitation medicine in the future.

[0003] The existing upper limb rehabilitation robots directly output driving torque through the joint motors, which is too rigid and contrary to the relatively flexible driving requirements of the human body. At the same time, the driving mode of the existing upper limb rehabilitation robots is set on the corresponding rehabilitation arm, resulting in a large overall weight of the robotic arm. The motor needs to bear its own weight and the weight of the next motor, causing a rotation burden on the motor, making the robotic arm have a large dynamic inertia, affecting the service life and stability of the motor and the robotic arm. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art that the rehabilitation robot arm has rigid rotation, does not meet the requirements of flexible drive of the human body, and has large dynamic inertia, and provides a rope-driven upper limb rehabilitation robot with flexible transmission, small dynamic inertia and high transmission accuracy, and a control method thereof.

[0005] The technical solution adopted by the present invention to solve the technical problem is:

[0006] As a first aspect, a rope-driven upper limb rehabilitation robot comprises a rehabilitation frame, a rehabilitation mounting module symmetrically mounted on the rehabilitation frame, and an exoskeleton rehabilitation arm mounted on the rehabilitation mounting module;

[0007] The exoskeleton rehabilitation arm comprises a plurality of distal drive modules installed in the rehabilitation installation module and a shoulder abduction / adduction rehabilitation mechanism, a shoulder medial / lateral rehabilitation mechanism, a shoulder flexion / extension rehabilitation mechanism, an upper arm rehabilitation mechanism, an elbow joint rehabilitation mechanism and a forearm rehabilitation mechanism which are rotatably connected to the rehabilitation installation module in sequence; the shoulder abduction / adduction rehabilitation mechanism, the shoulder medial / lateral rehabilitation mechanism and the shoulder flexion / extension rehabilitation mechanism are all driven and connected to the corresponding distal drive module by a rope drive assembly; the rope drive assembly comprises a first idler wheel, a driving guide wheel assembly, a second idler wheel and a steel wire rope;

[0008] The first idle wheels of the three rope-driven assemblies are respectively installed on the rehabilitation installation module, the shoulder abduction / adduction rehabilitation mechanism, and the shoulder medial / lateral rehabilitation mechanism; the guide wheels of the three rope-driven assemblies are respectively installed on the rotation axes of the shoulder abduction / adduction rehabilitation mechanism, the shoulder medial / lateral rehabilitation mechanism, and the shoulder flexion / extension rehabilitation mechanism; the three second idle wheels are respectively installed on the shoulder abduction / adduction rehabilitation mechanism, the shoulder medial / lateral rehabilitation mechanism, and the upper arm rehabilitation mechanism; one end of the steel wire rope of one rope-driven assembly is connected to the output end of the corresponding remote drive module, and the other end bypasses the corresponding first idle wheel, drive guide wheel group, second idle wheel, drive guide wheel group, and first idle wheel in sequence and returns to the output end of the remote drive module.

[0009] Furthermore, the driving guide wheel group comprises:

[0010] A driving wheel connected to the output end of the corresponding remote driving module through a wire rope transmission;

[0011] A plurality of guide wheels, coaxially stacked with the driving wheel, for guiding other steel wire ropes;

[0012] The reciprocating lines of the steel wire rope of the rope drive assembly are cross-arranged on the first idler wheel, the driving wheel and the second idler wheel, the diameter d1 of the first idler wheel is the same as the diameter d2 of the second idler wheel, and the corresponding diameter D of the driving wheel is larger than the diameter of the first idler wheel;

[0013] When in use, the steel wire ropes of the rope drive assemblies corresponding to the shoulder joint medial / lateral rehabilitation mechanism and the shoulder joint flexion / extension rehabilitation mechanism are all wrapped around the front rope drive assembly.

[0014] Furthermore, it also includes a tensioning assembly arranged in one-to-one correspondence with the remote drive module; the tensioning assembly includes:

[0015] A tensioning plate, fixedly mounted inside the rehabilitation mounting module;

[0016] Two tensioning wheel groups are symmetrically installed on the tensioning plate along the X-axis; wherein the two tensioning wheel groups are respectively a forward tensioning wheel group and a return tensioning wheel group.

[0017] Further, the tensioning wheel assembly includes a first tensioning wheel and a second tensioning wheel arranged on the tensioning plate, a long sliding groove opened on the tensioning plate along the Y-axis direction, and a third tensioning wheel assembly slidably arranged with the long sliding groove;

[0018] The connecting line of the rotation centers of the first tensioning wheel and the second tensioning wheel is perpendicular to the extension direction of the sliding long slot; when in use, one of the steel wire ropes passes around the corresponding first tensioning wheel, the third tensioning wheel assembly and the second tensioning wheel in sequence.

[0019] Further, the elbow joint rehabilitation mechanism comprises an elbow joint distal drive motor mounted on the rehabilitation mounting module, an elbow joint driving wheel coaxially arranged with an output shaft of the elbow joint distal drive motor, and an elbow joint driving wheel connected to the elbow joint driving wheel via an elbow joint driving rope transmission;

[0020] The elbow joint driving wheel is installed on the upper arm rehabilitation mechanism, and the rotation axis of the elbow joint driving wheel coincides with the rotation axis of the human elbow joint.

[0021] Further, the upper arm rehabilitation mechanism comprises an upper arm connecting plate coaxially arranged with the idler wheel of the shoulder joint flexion / extension rehabilitation mechanism, and an adjustment plate slidably arranged with the upper arm connecting plate through an upper arm length adjustment component; the elbow joint driving wheel is mounted on the adjustment plate;

[0022] The upper arm length adjustment assembly comprises:

[0023] A screw rod installed on the upper arm connecting plate and a slider connected with the screw rod;

[0024] Two adjustable movable pulleys are symmetrically mounted on both sides of the slider;

[0025] Two adjusting slide rails are symmetrically arranged on the upper arm mounting plate and parallel to the moving direction of the slider, and the two adjusting slide rails are respectively installed in cooperation with the two adjusting movable pulleys one by one;

[0026] At least two adjusting fixed pulleys are symmetrically mounted on the edge of the upper arm connecting plate; the adjusting movable pulley is tangent to the wire groove of the corresponding adjusting fixed pulley;

[0027] A manual knob, mounted at one end of the screw rod, for manually rotating the screw rod;

[0028] The elbow joint driving rope starts from the elbow joint driving wheel and passes around the adjusting fixed pulley and the adjusting movable pulley on one side of the screw rod in turn, passes around the elbow joint driving wheel, and then passes around the adjusting movable pulley and the adjusting fixed pulley on the other side in turn and returns to the elbow joint driving wheel.

[0029] Furthermore, the rehabilitation rack includes four lifting legs, a support plate installed on the lifting legs, a lateral movement module installed on the support plate for adjusting the horizontal distance between the two rehabilitation installation modules, and a longitudinal adjustment module slidably arranged on the lateral movement module for adjusting the height of the rehabilitation installation module;

[0030] The support plate extends to the bottom of the exoskeleton rehabilitation arm and is used to provide a seat for the patient.

[0031] Furthermore, the longitudinal adjustment module comprises two groups, and the two rehabilitation installation modules correspond one to one to the two longitudinal adjustment modules respectively;

[0032] The longitudinal adjustment module includes at least two adjustment components arranged on both sides of the rehabilitation installation module; the adjustment component includes a vertical adjustment rod fixedly arranged on the moving end of the lateral movement module, an adjustment sleeve fixedly installed on the rehabilitation installation module, a plurality of adjustment holes opened on the vertical adjustment rod and the adjustment sleeve, and a fixing pin penetrated through the adjustment hole; wherein,

[0033] The adjustment sleeve is fixedly arranged on the rehabilitation installation module and sleeved on the outer side of the vertical adjustment rod. The adjustment hole on the adjustment sleeve corresponds to the adjustment hole on the vertical adjustment rod.

[0034] Furthermore, the forearm rehabilitation mechanism includes a forearm connecting plate rotatably connected to the adjustment plate via an elbow joint rehabilitation mechanism; both the upper arm connecting plate and the forearm connecting plate are equipped with fastening components for fixing the patient's arm.

[0035] As a second aspect, a control method based on the above-mentioned rope-driven upper limb rehabilitation robot includes the following steps:

[0036] S1. Select a basic training mode, wherein the basic training mode includes a single-arm training mode and a double-arm training mode;

[0037] S2. Adaptive adjustment, i.e. adaptive adjustment of the robot according to the patient’s height, shoulder width and arm length;

[0038] S3. Rehabilitation training mode setting, the rehabilitation training mode includes shoulder abduction / adduction rehabilitation, shoulder medial / lateral rehabilitation, shoulder flexion / extension rehabilitation and elbow flexion / extension rehabilitation;

[0039] S4. Rehabilitation training operation, that is, starting the corresponding remote drive module according to the rehabilitation training mode selected in step S3, and performing rehabilitation training on the patient through the rope drive assembly;

[0040] S5. After the training is completed, the exoskeleton rehabilitation arm is controlled to initialize the operation.

[0041] The beneficial effects of the rope-driven upper limb rehabilitation robot and the control method thereof of the present invention are:

[0042] The exoskeleton rehabilitation arm of the present invention is provided with three rope-driven assemblies to flexibly drive the three shoulder degrees of freedom of the upper limb rehabilitation robot. The rope-driven assemblies use two idle wheels and a group of driving guide wheels to correspond one to one with the steel wire rope to form three independent closed-loop transmission chains. The transmissions between the three rope-driven assemblies are independent of each other and cooperate with each other, which is convenient for automation and precise control. While realizing flexible driving of shoulder abduction / adduction rehabilitation, medial / lateral side of shoulder joint, and flexion / extension of shoulder joint, the driving module is arranged on the distal rehabilitation mounting module. The exoskeleton rehabilitation arm does not need to bear the gravity of multiple driving motors, which effectively reduces the dynamic inertia of the rehabilitation arm during training, and ensures the service life and stability of the motor and rehabilitation arm.

[0043] The special design of a driving wheel corresponding to a rope drive assembly of the present invention being larger than the diameters of the first idler wheel and the second idler wheel increases the relative position angle of the steel wire rope contacting the idler wheel, the driving wheel or the guide wheel at the same time, that is, increases the rotation angle of the corresponding joint. While ensuring that the rotation angle of the exoskeleton rehabilitation arm meets the rehabilitation needs of the patient, the steel wire rope does not detach from the idler wheel, the driving wheel or the guide wheel, thereby effectively ensuring the transmission accuracy of the rope drive assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] Figure 1 It is a stereoscopic diagram of a rope-driven upper limb rehabilitation robot according to an embodiment of the present invention.

[0046] Figure 2 It is a rear view of the rope-driven upper limb rehabilitation robot according to an embodiment of the present invention.

[0047] Figure 3 It is a partial structural schematic diagram of an upper limb rehabilitation robot according to an embodiment of the present invention.

[0048] Figure 4 It is a schematic diagram of the interior of the rehabilitation installation module according to an embodiment of the present invention.

[0049] Figure 5 Schematic diagram of the structure of the exoskeleton rehabilitation arm according to an embodiment of the present invention.

[0050] Figure 61 is a simplified structural diagram of the rope drive assembly of an embodiment of the present invention in a first state.

[0051] Figure 7 4 is a simplified structural diagram of the rope drive assembly of an embodiment of the present invention in the second state.

[0052] Figure 8 It is an installation diagram of the rope drive assembly corresponding to the shoulder joint abduction / adduction rehabilitation mechanism according to an embodiment of the present invention.

[0053] Fig. 9 It is an installation diagram of the rope drive assembly corresponding to the medial / lateral shoulder joint rehabilitation mechanism according to an embodiment of the present invention.

[0054] Fig.10 It is an installation diagram of a rope drive assembly corresponding to the shoulder joint flexion / extension rehabilitation mechanism according to an embodiment of the present invention.

[0055] Fig.11 It is a partial structural schematic diagram of an elbow joint rehabilitation mechanism according to an embodiment of the present invention.

[0056] Fig.12 It is a schematic structural diagram of an upper arm length adjustment assembly according to an embodiment of the present invention.

[0057] Fig.13 It is a schematic structural diagram of a tensioning assembly according to an embodiment of the present invention.

[0058] Fig.14 It is a detailed view of the third tensioning wheel assembly of an embodiment of the present invention.

[0059] Fig.15 It is a flow chart of the upper limb rehabilitation robot control method according to an embodiment of the present invention.

[0060] In the figure: 1. Rehabilitation frame, 11. Lifting legs, 12. Support plate, 13. Lateral movement module, 14. Longitudinal adjustment module, 141. Vertical adjustment rod, 142. Adjustment sleeve, 143. Adjustment hole, 2. Rehabilitation installation module, 3. Exoskeleton rehabilitation arm, 31. Distal drive module, 32. Shoulder joint abduction / adduction rehabilitation mechanism, 321. Shoulder joint connecting plate, 33. Shoulder joint medial / lateral rehabilitation mechanism, 331. First shoulder joint arc plate, 34. Shoulder joint flexion / extension rehabilitation mechanism, 341. Second shoulder joint arc plate, 35. Upper arm rehabilitation mechanism, 351. Upper arm connecting plate, 352. Upper arm length adjustment component, 3521. Screw, 3522. Sliding block, 3523. Adjusting fixed pulley, 3524. Adjusting slide rail, 3525. Adjusting movable pulley, 353. Adjusting plate, 36. Elbow joint rehabilitation mechanism, 361. Elbow joint distal drive motor, 362. Elbow joint driving wheel, 3 63. Elbow joint drive rope, 364. Elbow joint drive wheel, 37. Forearm rehabilitation mechanism, 371. Forearm connecting plate, 38 / 38-1 / 38-2 / 38-3. Rope drive assembly, 381 / 381-1 / 381-2 / 381-3. First idler wheel, 382 / 382-1 / 382-2 / 382-3. Drive guide wheel assembly, 383 / 383-1 / 383-2 / 383-3. Second idler wheel, 384. Wire rope , 39, tensioning assembly, 391, tensioning plate, 392, tensioning wheel group, 3921, first tensioning wheel, 3922, second tensioning wheel, 3923, third tensioning wheel assembly, 39231, tensioning adjustment frame, 39232, adjusting screw, 39233, tensioning wheel mounting frame, 39234, third tensioning wheel, 310, fastening assembly, 41, first rotating wheel, 42, second rotating wheel, 43, third rotating wheel, 44, elbow joint rotating wheel. DETAILED DESCRIPTION

[0061] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0062] like Figure 1-Figure 14The specific embodiment of a rope-driven upper limb rehabilitation robot of the present invention shown in the figure comprises a rehabilitation frame 1, a rehabilitation mounting module 2 symmetrically mounted on the rehabilitation frame 1, and an exoskeleton rehabilitation arm 3 mounted on the rehabilitation mounting module 2. The exoskeleton rehabilitation arm 3 in this embodiment comprises a plurality of distal drive modules 31 mounted in the rehabilitation mounting module 2, and a shoulder joint abduction / adduction rehabilitation mechanism 32, a shoulder joint medial / lateral rehabilitation mechanism 33, a shoulder joint flexion / extension rehabilitation mechanism 34, an upper arm rehabilitation mechanism 35, an elbow joint rehabilitation mechanism 36, and a forearm rehabilitation mechanism 37 which are rotatably connected to the rehabilitation mounting module 2 in sequence; the shoulder joint abduction / adduction rehabilitation mechanism 32, the shoulder joint medial / lateral rehabilitation mechanism 33, and the shoulder joint flexion / extension rehabilitation mechanism 34 are all connected to the corresponding distal drive module 31 by a rope drive assembly 38.

[0063] like Figures 5 to 7 As shown, in this embodiment, the rope drive assembly 38 includes a first idler wheel 381, a driving guide wheel group 382, ​​a second idler wheel 383 and a wire rope 384; the first idler wheels 381 of the three rope drive assemblies 38 are respectively installed on the rehabilitation installation module 2, the shoulder joint abduction / adduction rehabilitation mechanism 32, and the shoulder joint medial / lateral rehabilitation mechanism 33; the guide wheels of the three rope drive assemblies 38 are respectively installed on the shoulder joint abduction / adduction rehabilitation mechanism 32, the shoulder joint medial / lateral rehabilitation mechanism 33, and the shoulder joint flexion / extension rehabilitation mechanism The structure is on the rotation axis of the mechanism 34; three second idler wheels 383 are respectively installed on the shoulder abduction / adduction rehabilitation mechanism 32, the shoulder medial / lateral rehabilitation mechanism 33, and the upper arm rehabilitation mechanism 35; one end of a steel wire rope 384 of a rope drive assembly 38 is connected to the corresponding output end of the remote drive module 31, and the other end passes through the corresponding first idler wheel 381, the driving guide wheel group 382, ​​the second idler wheel 383, the driving guide wheel group 382, ​​and the first idler wheel 381 in sequence and returns to the output end of the remote drive module 31.

[0064] The exoskeleton rehabilitation arm 3 of the present invention is provided with three rope drive assemblies 38 to flexibly drive the three shoulder degrees of freedom of the upper limb rehabilitation robot. The rope drive assembly 38 adopts two idle wheels, a group of driving guide wheel groups 382 and a one-to-one correspondence with the wire rope 384 to form three independent closed-loop transmission chains. The transmission between the three rope drive assemblies 38 is independent of each other and cooperates with each other, which is convenient for automation and precise control. While realizing the flexible drive of shoulder abduction / adduction rehabilitation, shoulder medial / lateral side, and shoulder flexion / extension, the drive module is set on the distal rehabilitation installation module 2. The exoskeleton rehabilitation arm 3 does not need to bear the gravity of multiple drive motors, which effectively reduces the dynamic inertia of the rehabilitation arm during training, and ensures the service life and stability of the motor and rehabilitation arm.

[0065] In this embodiment, a driving guide wheel group 382 includes a driving wheel and multiple guide wheels. A driving wheel is connected to the output end of the corresponding remote driving module 31 through a steel wire rope 384. The corresponding multiple guide wheels are coaxially stacked with the driving wheel to guide other steel wire ropes 384. The steel wire rope 384 of a rope drive assembly 38 is cross-arranged in a reciprocating line on the first idle wheel 381, the driving wheel and the second idle wheel 383. The diameter d1 of the first idle wheel 381 is the same as the diameter d2 of the second idle wheel 383. The diameter D of the corresponding driving wheel is larger than the diameter of the first idle wheel 381. When in use, the steel wire rope 384 of the rope drive assembly 38 corresponding to the shoulder joint medial / lateral rehabilitation mechanism 33 and the shoulder joint flexion / extension rehabilitation mechanism 34 all bypass the preceding rope drive assembly 38.

[0066] The reciprocating lines of the steel wire rope 384 of a rope drive assembly 38 are cross-arranged on the first idler wheel 381, the driving wheel and the second idler wheel 383, which can prevent the steel wire rope 384 from slipping during the rotation of the joint. In order to ensure the transmission accuracy of the rope drive assembly 38, the steel wire rope 384 needs to keep in contact with the idler wheel and the driving wheel at all times, that is, within the range of motion of the joint rotation, the steel wire rope 384 needs to keep in contact with the idler wheel and the driving wheel at all times. During the rotation of the joint, the steel wire rope 384 on the shorter side needs to be tangent to the idler wheel and not separate from the driving wheel. In this embodiment, the diameter of the driving wheel in the guide driving wheel group 382 is designed to be larger than the diameter of the first idler wheel 381 and the second idler wheel 383, thereby increasing the contact time between the driving wheel and the steel wire rope 384 on the shorter side, effectively increasing the rotation angle of the joint, that is, ensuring that the driving wheel does not separate from the steel wire rope 384 when the joint has a larger range of motion, thereby ensuring the driving accuracy of the rope drive assembly 38.

[0067] In this embodiment, three remote drive modules 31 are provided, and the three remote drive modules 31 are connected to the three rope drive components 38 in a one-to-one correspondence. A tensioning component 39 for tensioning the steel wire rope 384 and a plurality of rotating wheels for guiding the steel wire rope 384 are provided on the transmission line of each rope drive component 38. The tensioning component 39 in this embodiment includes a tensioning plate 391 and two tensioning wheel groups 392. The tensioning plate 391 is fixedly installed inside the rehabilitation installation module 2, and the two tensioning wheel groups 392 are symmetrically installed on the tensioning plate 391 along the X-axis. Among them, the two tensioning wheel groups 392 are respectively a forward tensioning wheel group 392 and a return tensioning wheel group 392, corresponding to the forward and return transmission paths of a steel wire rope 384. For details, see Fig.13 .

[0068] As an implementation method, the distal drive module 31 in this embodiment includes a drive motor installed on the rehabilitation installation module 2 and an active wheel coaxially arranged with the output shaft of the drive motor. In this embodiment, the three distal drive modules 31 correspond to the shoulder joint abduction / adduction drive motor, the shoulder joint medial / lateral drive motor, and the shoulder joint flexion / extension drive motor, as well as the shoulder joint abduction / adduction active wheel, the shoulder joint medial / lateral active wheel, and the shoulder joint flexion / extension active wheel, respectively. Figure 4 shown.

[0069] like Fig. 9 and Fig.10 As shown, the tensioning wheel group 392 in this embodiment includes a first tensioning wheel 3921 and a second tensioning wheel 3922 arranged on the tensioning plate 391, a sliding long groove opened on the tensioning plate 391 along the Y-axis direction, and a third tensioning wheel assembly 3923 slidably arranged with the sliding long groove. The rotation center connection line of the first tensioning wheel 3921 and the second tensioning wheel 3922 is perpendicular to the extension direction of the sliding long groove. When in use, a steel wire rope 384 passes through the corresponding first tensioning wheel 3921, the third tensioning wheel assembly 3923 and the second tensioning wheel 3922 in sequence. It should be further explained that the third tensioning wheel assembly 3923 in this embodiment includes a tensioning adjustment frame 39231 fixedly mounted on the tensioning plate 391, a tensioning wheel mounting frame 39233 mounted on the tensioning adjustment frame 39231 through an adjusting screw 39232, and a third tensioning wheel 39234 mounted on the tensioning wheel mounting frame 39233, wherein the tensioning wheel mounting frame 39233 is slidably matched with the sliding long groove. By changing the length of the adjusting screw 39232 on the tensioning adjustment frame 39231, the Y-axis direction distance of the third tensioning wheel 39234 on the tensioning plate 391 is changed to achieve the tension adjustment of the wire rope 384. This tensioning assembly 39 integrates the outgoing path and the loop tensioning part of a wire rope 384 together, has a compact structure, and has common components, which saves cost and space while ensuring that the outgoing path and the loop of the wire rope 384 have tensioning functions.

[0070] In this embodiment, each rope drive assembly 38 is also provided with a rotating wheel for guiding the wire rope 384 on the corresponding line, for example, Figure 4 The first rotating wheel 41 corresponding to the medial / lateral shoulder joint rehabilitation mechanism 33, the second rotating wheel 42 corresponding to the medial / lateral shoulder joint rehabilitation mechanism 33, and the third rotating wheel 43 corresponding to the shoulder joint flexion / extension rehabilitation mechanism 34, wherein the first rotating wheel 41, the second rotating wheel 42 and the third rotating wheel 43 are all arranged at the output end of the corresponding tensioning mechanism and installed on the corresponding rehabilitation installation module 2. It should be understood that the steering wheel in this embodiment may also include steering wheels at other positions for guiding the wire rope 384, and the position and number of the steering wheels are not specifically limited here.

[0071] See also Figures 8 to 10 As shown, the shoulder joint abduction / adduction rehabilitation mechanism 32 in this embodiment includes a shoulder joint connection plate 321 fixedly mounted on the rehabilitation mounting module 2, and the guide drive wheel group 382-1 and the first idler wheel 381-1 of the rope drive assembly 38-1 corresponding to the shoulder joint abduction / adduction rehabilitation mechanism 32 are mounted on the shoulder joint connection plate 321. The shoulder joint medial / lateral rehabilitation mechanism 33 includes a first shoulder joint arc plate 331 rotatably mounted on the shoulder joint connection plate 321, the second idler wheel 383-1 corresponding to the shoulder joint abduction / adduction rehabilitation mechanism 32 is mounted on one end of the first shoulder joint arc plate 331, and the guide drive wheel group 382-2 and the first idler wheel 381-2 of the rope drive assembly 38-2 corresponding to the shoulder joint medial / lateral rehabilitation mechanism 33 are mounted on the other end of the first shoulder joint arc plate 331. The shoulder joint flexion / extension rehabilitation mechanism 34 includes a second shoulder joint arc plate 341 rotatably mounted with the first shoulder joint arc plate 331, a second idler wheel 383-2 corresponding to the shoulder joint medial / lateral rehabilitation mechanism 33 is mounted on one end of the second arc plate, and a guide drive wheel group 382-3 and a first idler wheel 381-3 of a rope drive assembly 38-3 corresponding to the shoulder joint flexion / extension rehabilitation mechanism 34 are mounted on the other end of the second shoulder joint arc plate 341. It should be noted that the second idler wheel 383-3 of the rope drive assembly 38-3 corresponding to the shoulder joint flexion / extension rehabilitation mechanism 34 is mounted on the upper arm connecting plate 351.

[0072] like Fig.11 As shown, the elbow joint rehabilitation mechanism 36 in this embodiment includes an elbow joint distal drive motor 361 installed on the rehabilitation installation module 2, an elbow joint driving wheel 362 coaxially arranged with the output shaft of the elbow joint distal drive motor 361, and an elbow joint driving wheel 364 connected to the elbow joint driving wheel 362 through an elbow joint driving rope 363. The elbow joint driving wheel 364 is installed on the upper arm rehabilitation mechanism 35, and the rotation axis of the elbow joint driving wheel 364 coincides with the rotation axis of the human elbow joint. It should be further explained that in this embodiment, the elbow joint rehabilitation mechanism is also provided with an elbow joint rotating wheel, which is arranged on the rehabilitation installation module 2 and is used to guide the elbow joint driving rope 44.

[0073] In order to further make the exoskeleton rehabilitation arm 3 more in line with the natural flexible rotation of the human upper limbs, in this embodiment, in addition to the three degrees of freedom of shoulder abduction / adduction, shoulder medial / lateral, and shoulder flexion / extension, which are driven by the rope drive component 38, the flexion / extension movement of the elbow joint is flexibly driven by the elbow joint drive rope 363.

[0074] like Fig.12As shown, the upper arm rehabilitation mechanism 35 in this embodiment includes an upper arm connecting plate 351 coaxially arranged with the driving wheel of the shoulder joint flexion / extension rehabilitation mechanism 34, and an adjustment plate 353 slidingly arranged with the upper arm connecting plate 351 through an upper arm length adjustment component 352; the elbow joint driving wheel 364 is installed on the adjustment plate 353.

[0075] In order to increase the applicability of the rope-driven upper limb rehabilitation robot of the present invention, an upper arm length adjustment component 352 is provided on the upper arm rehabilitation mechanism 35, and the upper arm rehabilitation adjustment component includes: a screw rod 3521 installed on the upper arm connection plate 351, a slider 3522 connected to the screw rod 3521, two adjustment movable pulleys 3525, two adjustment slide rails 3524, at least two adjustment fixed pulleys 3523, and a manual knob. Among them, the two adjustment movable pulleys 3525 are symmetrically installed on both sides of the slider 3522, the two adjustment slide rails 3524 are symmetrically arranged on the upper arm mounting plate and parallel to the moving direction of the slider 3522, and the two adjustment slide rails 3524 are respectively installed in a one-to-one manner with the two adjustment movable pulleys 3525. In this embodiment, there are two adjusting fixed pulleys 3523, which are symmetrically installed on the edge of the upper arm connecting plate 351. The adjusting movable pulley 3525 is tangent to the wire groove of the corresponding adjusting fixed pulley 3523. The manual knob is installed at one end of the screw rod 3521 for manually screwing the screw rod 3521.

[0076] like Figure 4 and Fig.11 As shown, the elbow joint driving rope 363 starts from the elbow joint driving wheel 362, passes through the adjusting fixed pulley 3523 and the adjusting movable pulley 3525 on one side of the screw rod 3521, passes through the elbow joint driving wheel 364, and then passes through the adjusting movable pulley 3525 and the adjusting fixed pulley 3523 on the other side, and returns to the elbow joint driving wheel 362. In this embodiment, in order to ensure the stability of the elbow joint driving rope 363, a tensioning assembly 39 is also provided on its outgoing and returning paths, and its specific winding method is the same as the winding method of the steel wire rope 384 in the rope driving assembly 38, which will not be described in detail here.

[0077] The upper arm length adjustment component 352 of this embodiment is used in combination with the elbow joint drive rope 363. When the upper arm length is adjusted, the length of the upper arm portion of the mechanical arm will change, and the elbow joint drive rope 363 passing through this upper arm length adjustment component 352 will also be affected. When the upper arm length adjustment component 352 of this embodiment adjusts the upper arm length of the rehabilitation arm, the length of the elbow joint drive rope 363 will not change, avoiding the problem of the elbow joint drive accuracy being affected by the change of the rope length due to the adjustment of the upper arm length, or causing the elbow joint drive rope 363 to become loose or too tight. The principle used by the upper arm length adjustment component 352 is as follows: the change in the rope length in the movable pulley 3525 is twice the displacement of the movable pulley 3525, and when rotating at the same angle, the axial displacements between different pitches are different.

[0078] When the upper arm length adjustment component 352 of the present invention is used to adjust the upper arm length of the mechanical arm to meet the needs of different patients, the specific operation is as follows: the manual knob is rotated to rotate the screw rod 3521 to a certain angle, where the lead of the upper thread of the screw rod 3521 is half of the lead of the lower thread, and the direction is opposite, and the upper slider 3522 has a threaded hole that matches the upper thread. At this time, due to the rotation of the screw rod 3521, the slider 3522 and the adjustment plate 353 matched thereon will also produce axial displacement, and the direction is opposite, and the displacement of the slider 3522 is half of the lower adjustment plate 353. When the slider 3522 is displaced, the adjustable movable pulley 3525 connected on both sides thereof by the connecting rod will also move along the guide rail. The pulley group composed of the adjustable fixed pulley 3523 and the adjustable movable pulley 3525 forms a wire storage mechanism, which will release or retract the driving rope as the adjustable movable pulley 3525 moves. Moreover, due to the positional relationship between the adjustable movable pulley 3525 and the adjustable fixed pulley 3523 as described above, the change in rope length caused by the movement of the adjustable movable pulley 3525 is exactly twice the displacement of the adjustable movable pulley 3525. Therefore, when the manual knob is rotated, the displacement between the adjusting movable pulley 3525 and the adjusting plate 353 remains in the opposite direction, and the movement distance of the latter is twice that of the former, while the rope released or retracted in the pulley group due to the movement of the adjusting movable pulley 3525 is half of the movement distance of the movable pulley. The setting of the upper arm length adjustment component 352 can ensure that the wire storage mechanism can compensate for the problem of rope length mismatch caused by the change of upper arm length in time. In actual rehabilitation treatment, it can ensure the applicability of the upper limb rehabilitation robot and avoid output drive errors to a large extent, resulting in poor rehabilitation effect or physical damage to the patient.

[0079] The forearm rehabilitation mechanism 37 in this embodiment includes a forearm connecting plate 371 rotatably connected to the adjustment plate 353 through the elbow joint rehabilitation mechanism 36; the upper arm connecting plate 351 and the forearm connecting plate 371 are both equipped with a fastening assembly 310 for fixing the patient's arm. As an embodiment, the fastening assembly 310 includes a buckle seat fixedly set on the upper arm rehabilitation mechanism 35 or the forearm rehabilitation mechanism 37 and a flexible fastening belt engaged with the buckle seat. When in use, the upper arm and the forearm of the human body are respectively aligned with the positions of the upper arm rehabilitation mechanism 35 and the forearm rehabilitation mechanism 37 on the exoskeleton rehabilitation arm 3, and the upper arm and the forearm of the human body are fixed to the exoskeleton rehabilitation arm 3 by the fastening assembly 310 to ensure smooth rehabilitation.

[0080] The rehabilitation frame 1 includes four lifting legs 11, a support plate 12 mounted on the lifting legs 11, a lateral movement module 13 mounted on the support plate 12 for adjusting the horizontal distance between two rehabilitation installation modules 2, and a longitudinal adjustment module 14 slidably arranged on the lateral movement module 13 for adjusting the height of the rehabilitation installation module 2. The support plate 12 extends to the bottom of the exoskeleton rehabilitation arm 3 to provide a seat plate for the patient.

[0081] In this embodiment, the transverse moving module 13 includes a transverse guide rail installed on the support plate 12 along the Y-axis direction and a transverse slider 3522 sliding with the transverse guide rail, and the rehabilitation installation module 2 is fixedly installed on the corresponding transverse slider 3522.

[0082] The longitudinal adjustment module 14 includes two groups, and the two rehabilitation installation modules 2 correspond to the two longitudinal adjustment modules 14 one by one respectively; the longitudinal adjustment module 14 includes at least two adjustment components arranged on both sides of the rehabilitation installation module 2, and the adjustment component includes a vertical adjustment rod 141 fixedly arranged on the moving end of the horizontal moving module 13, an adjustment sleeve 142 fixedly installed on the rehabilitation installation module 2, a plurality of adjustment holes 143 opened on the vertical adjustment rod 141 and the adjustment sleeve 142, and a fixing pin passing through the adjustment hole 143; wherein, the adjustment sleeve 142 is fixedly arranged on the rehabilitation installation module 2, and is sleeved on the outer side of the vertical adjustment rod 141, and the adjustment hole 143 on the adjustment sleeve 142 corresponds to the adjustment hole 143 on the vertical adjustment rod 141. In the design of the rehabilitation frame 1, the upper limb rehabilitation robot in this embodiment is designed with two degrees of freedom of movement, namely the lateral movement module 13 and the longitudinal adjustment module 14. The longitudinal direction can control the upper limb rehabilitation robot to match the sitting height of the human body, and the lateral control is used to match the shoulder width of the human body, thereby ensuring the alignment of the shoulder joint with the human shoulder joint to the greatest extent.

[0083] The rope-driven upper limb rehabilitation robot of the present invention has three degrees of freedom for shoulder movement and one degree of freedom for elbow movement, and utilizes three rope-driven components 38 and elbow-driven rope 363 to achieve a wider range of motion and a higher scope of application of the rehabilitation arm. The mechanical structure of the upper limb rehabilitation robot of the present invention fits the requirements of the human body, greatly improves the rehabilitation effect of the patient, provides passive degrees of freedom to adapt to different patients, and ensures the comfort and safety of the patient during use.

[0084] Based on the control method of the rope-driven upper limb rehabilitation robot, Fig.15 As shown, the following steps are included:

[0085] S1. Select a basic training mode, which includes a single-arm training mode and a double-arm training mode;

[0086] S2. Adaptive adjustment, i.e. adaptive adjustment of the robot according to the patient’s height, shoulder width and arm length;

[0087] S3. Rehabilitation training mode setting, and joint space trajectory planning for each rehabilitation training mode, the rehabilitation training modes include shoulder abduction / adduction rehabilitation, shoulder medial / lateral rehabilitation, shoulder flexion / extension rehabilitation, and elbow flexion / extension rehabilitation;

[0088] S4. Rehabilitation training operation, that is, starting the corresponding remote drive module 31 according to the rehabilitation training mode selected in step S3, and performing rehabilitation training on the patient through the rope drive assembly 38;

[0089] S5. After the training is completed, the exoskeleton rehabilitation arm 3 is controlled to initialize the operation.

[0090] In this embodiment, the steel wire ropes 384 of the rope-driven assemblies 38 corresponding to the shoulder joint medial / lateral rehabilitation mechanism 33 and the shoulder joint flexion / extension rehabilitation mechanism 34 are all bypassed around the front rope-driven assemblies 38, and the elbow joint driving rope 363 in the elbow joint rehabilitation mechanism 36 also bypasses the three front rope-driven assemblies 38, thereby realizing the coupling of joint movements. The motion range of the steel wire rope 384 is set by setting the connection between the rotation angles of the coupled joints and the rotation angles of the motor. Compared with the prior art, the upper limb rehabilitation machine using the above-mentioned drive transmission method can ensure the larger rotation angles required for the rehabilitation of various joints of the human body and can ensure the control accuracy of the rotation angles.

[0091] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A rope-driven upper limb rehabilitation robot, characterized in that: It comprises a rehabilitation frame (1), a rehabilitation installation module (2) symmetrically installed on the rehabilitation frame (1), and an exoskeleton rehabilitation arm (3) installed on the rehabilitation installation module (2); The exoskeleton rehabilitation arm (3) comprises a plurality of distal drive modules (31) installed in the rehabilitation installation module (2) and a shoulder joint abduction / adduction rehabilitation mechanism (32), a shoulder joint medial / lateral rehabilitation mechanism (33), a shoulder joint flexion / extension rehabilitation mechanism (34), an upper arm rehabilitation mechanism (35), an elbow joint rehabilitation mechanism (36) and a forearm rehabilitation mechanism (37) which are rotatably connected to the rehabilitation installation module (2) in sequence; the shoulder joint abduction / adduction rehabilitation mechanism (32), the shoulder joint medial / lateral rehabilitation mechanism (33) and the shoulder joint flexion / extension rehabilitation mechanism (34) are all connected to the corresponding distal drive module (31) by a rope drive assembly (38); The rope drive assembly (38) comprises a first idler wheel (381), a driving guide wheel assembly (382), a second idler wheel (383) and a steel wire rope (384); the first idler wheels (381) of the three rope drive assemblies (38) are respectively mounted on the rehabilitation mounting module (2), the shoulder joint abduction / adduction rehabilitation mechanism (32), and the shoulder joint medial / lateral rehabilitation mechanism (33); the guide wheels of the three rope drive assemblies (38) are respectively mounted on the shoulder joint abduction / adduction rehabilitation mechanism (32), the shoulder joint medial / lateral rehabilitation mechanism (33), and the shoulder joint flexion / extension rehabilitation mechanism (34). on the rotation axis; three second idler wheels (383) are respectively mounted on the shoulder joint abduction / adduction rehabilitation mechanism (32), the shoulder joint medial / lateral rehabilitation mechanism (33), and the upper arm rehabilitation mechanism (35); one end of a steel wire rope (384) of the rope drive assembly (38) is connected to the output end of the corresponding remote drive module (31), and the other end of the steel wire rope (384) is sequentially passed around the corresponding first idler wheel (381), the driving guide wheel group (382), the second idler wheel (383), the driving guide wheel group (382), and the first idler wheel (381) to return to the output end of the remote drive module (31).

2. The rope-driven upper limb rehabilitation robot according to claim 1, characterized in that: The driving guide wheel set (382) comprises: A driving wheel connected to the output end of the corresponding remote driving module (31) via a steel wire rope (384); A plurality of guide wheels, coaxially stacked with the driving wheel, for guiding other steel wire ropes (384); A steel wire rope (384) of the rope drive assembly (38) is arranged in a reciprocating line on the first idle wheel (381), the driving wheel and the second idle wheel (383) in a cross-arranged manner, the diameter d1 of the first idle wheel (381) and the diameter d2 of the second idle wheel (383) are the same, and the corresponding diameter D of the driving wheel is larger than the diameter of the first idle wheel (381); When in use, the steel wire ropes (384) of the rope drive assemblies (38) corresponding to the shoulder joint medial / lateral rehabilitation mechanism (33) and the shoulder joint flexion / extension rehabilitation mechanism (34) are all wound around the preceding rope drive assembly (38).

3. The rope-driven upper limb rehabilitation robot according to claim 1, characterized in that: It also includes a tensioning assembly (39) arranged in one-to-one correspondence with the remote drive module (31); the tensioning assembly (39) includes: A tensioning plate (391) fixedly mounted inside the rehabilitation mounting module (2); Two tension wheel groups (392), the two tension wheel groups (392) are symmetrically mounted on the tensioning plate (391) along the X-axis; wherein the two tension wheel groups (392) are respectively a forward tension wheel group (392) and a reverse tension wheel group (392).

4. The rope-driven upper limb rehabilitation robot according to claim 1, characterized in that: The tensioning wheel assembly (392) comprises a first tensioning wheel (3921) and a second tensioning wheel (3922) arranged on the tensioning plate (391), a long sliding groove opened on the tensioning plate (391) along the Y-axis direction, and a third tensioning wheel assembly (3923) slidably arranged with the long sliding groove; The rotation center connection line of the first tensioning wheel (3921) and the second tensioning wheel (3922) is perpendicular to the extension direction of the sliding long groove; when in use, one of the steel wire ropes (384) is passed around the corresponding first tensioning wheel (3921), the third tensioning wheel assembly (3923) and the second tensioning wheel (3922) in sequence.

5. The rope-driven upper limb rehabilitation robot according to claim 2, characterized in that: The elbow joint rehabilitation mechanism (36) comprises an elbow joint distal drive motor (361) mounted on the rehabilitation mounting module (2), an elbow joint driving wheel (362) coaxially arranged with the output shaft of the elbow joint distal drive motor (361), and an elbow joint driving wheel (364) connected to the elbow joint driving wheel (362) via an elbow joint driving rope (363); The elbow joint driving wheel (364) is mounted on the upper arm rehabilitation mechanism (35), and the rotation axis of the elbow joint driving wheel (364) coincides with the rotation axis of the human elbow joint.

6. The rope-driven upper limb rehabilitation robot according to claim 5, characterized in that: The upper arm rehabilitation mechanism (35) comprises an upper arm connection plate (351) coaxially arranged with the driving wheel of the shoulder joint flexion / extension rehabilitation mechanism (34), and an adjustment plate (353) slidably arranged with the upper arm connection plate (351) via an upper arm length adjustment component (352); the elbow joint driving wheel (364) is mounted on the adjustment plate (353); The upper arm length adjustment assembly (352) comprises: A screw rod (3521) mounted on the upper arm connecting plate (351) and a sliding block (3522) cooperatively connected to the screw rod (3521); Two adjustable movable pulleys (3525) are symmetrically mounted on both sides of the slider (3522) via a connecting rod; Two adjusting slide rails (3524) are symmetrically arranged on the upper arm mounting plate and are parallel to the moving direction of the slider (3522). The two adjusting slide rails (3524) are respectively installed in a one-to-one manner with the two adjusting movable pulleys (3525); At least two adjusting fixed pulleys (3523) are symmetrically mounted on the edge of the upper arm connecting plate (351); the adjusting movable pulley (3525) is tangent to the wire groove of the corresponding adjusting fixed pulley (3523); A manual knob, mounted on one end of the screw rod (3521), for manually rotating the screw rod (3521); The elbow joint driving rope (363) starts from the elbow joint driving wheel (362), passes through the adjusting fixed pulley (3523) and the adjusting movable pulley (3525) on one side of the screw rod (3521) in sequence, passes through the elbow joint driving wheel (364), and then passes through the adjusting movable pulley (3525) and the adjusting fixed pulley (3523) on the other side in sequence and returns to the elbow joint driving wheel (362).

7. The rope-driven upper limb rehabilitation robot according to claim 1, characterized in that: The rehabilitation frame (1) comprises four lifting legs (11), a support plate (12) mounted on the lifting legs (11), a lateral movement module (13) mounted on the support plate (12) for adjusting the distance between two rehabilitation installation modules (2) in the horizontal direction, and a longitudinal adjustment module (14) slidably arranged on the lateral movement module (13) for adjusting the height of the rehabilitation installation module (2); The support plate (12) extends to the bottom of the exoskeleton rehabilitation arm (3) and is used to provide a seat plate for the patient.

8. The rope-driven upper limb rehabilitation robot according to claim 7, characterized in that: The longitudinal adjustment modules (14) include two groups, and the two rehabilitation installation modules (2) correspond one to one with the two longitudinal adjustment modules (14) respectively; The longitudinal adjustment module (14) comprises at least two adjustment components arranged on both sides of the rehabilitation installation module (2); the adjustment components comprise a vertical adjustment rod (141) fixedly arranged on the moving end of the lateral movement module (13), an adjustment sleeve (142) fixedly installed on the rehabilitation installation module (2), a plurality of adjustment holes (143) provided on the vertical adjustment rod (141) and the adjustment sleeve (142), and a fixing pin penetrated through the adjustment hole (143); wherein, The adjustment sleeve (142) is fixedly arranged on the rehabilitation installation module (2) and sleeved on the outer side of the vertical adjustment rod (141); the adjustment hole (143) on the adjustment sleeve (142) corresponds to the adjustment hole (143) on the vertical adjustment rod (141).

9. The rope-driven upper limb rehabilitation robot according to claim 6, characterized in that: The forearm rehabilitation mechanism (37) comprises a forearm connecting plate (371) rotatably connected to the adjustment plate (353) via an elbow joint rehabilitation mechanism (36); a fastening assembly (310) for fixing the patient's arm is installed on both the upper arm connecting plate (351) and the forearm connecting plate (371).

10. The control method of the rope-driven upper limb rehabilitation robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Select a basic training mode, wherein the basic training mode includes a single-arm training mode and a double-arm training mode; S2. Adaptive adjustment, i.e. adaptive adjustment of the robot according to the patient’s height, shoulder width and arm length; S3. Rehabilitation training mode setting, the rehabilitation training mode includes shoulder abduction / adduction rehabilitation, shoulder medial / lateral rehabilitation, shoulder flexion / extension rehabilitation and elbow flexion / extension rehabilitation; S4. Rehabilitation training operation, that is, starting the corresponding remote drive module (31) according to the rehabilitation training mode selected in step S3, and performing rehabilitation training on the patient through the rope drive assembly (38); S5. After the training is completed, the exoskeleton rehabilitation arm (3) is controlled to initialize the operation.

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