Turnover type wearable upper limb rehabilitation robot shared by two arms

Abstract

The invention relates to the technical field of rehabilitation robots, and discloses a turnover type wearable upper limb rehabilitation robot shared by two arms, a back fixing plate is arranged on a rack, the back fixing plate is provided with a lifting mechanism, the lifting mechanism comprises a lifting lead screw and a back lifting nut seat which are matched with each other, and a sliding plate is in sliding fit with the front side of the back fixing plate; the sliding plate is connected with a back lifting nut seat, a turnover driving motor is arranged on one side of the back lifting nut seat, the output end of the turnover driving motor penetrates through the sliding plate to be connected with a back mounting plate parallel to the sliding plate, and rehabilitation training of left or right arms can be flexibly adapted only by one group of rehabilitation arms; the rehabilitation arm is in sliding fit with the back mounting plate, and the rehabilitation arm comprises a shoulder mounting bottom plate, a shoulder joint abduction and adduction mechanism, a shoulder joint horizontal abduction and adduction mechanism, a shoulder joint forward flexion and backward extension mechanism, a shoulder joint inward rotation and outward rotation mechanism, an elbow joint flexion and extension mechanism, an elbow joint forward rotation and backward rotation mechanism and a wrist flexion and extension mechanism which are connected in sequence.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation robots, in particular to a flip-type wearable upper limb rehabilitation robot with two shared arms. Background Art

[0002] The high plasticity of the central nervous system is the most important medical basis for this wearable upper limb rehabilitation robot. Through reasonable rehabilitation training, it can help patients recover their motor function. The recovery of upper limb function not only helps improve the quality of life of patients, but also can effectively reduce the serious harm caused by stroke.

[0003] The current upper limb rehabilitation robots are still in the early stages of development and are often used as auxiliary tools for daily rehabilitation training. Some bilateral rehabilitation robots often require the installation of two independent upper limb rehabilitation mechanisms. When conducting upper limb rehabilitation, the patient's left and right upper limbs are simultaneously trained with the upper limb rehabilitation mechanisms on the same side. Although this allows the rehabilitation of both upper limbs at the same time, such rehabilitation devices also increase the cost and operational complexity of the rehabilitation devices. In addition, some rehabilitation devices have problems such as insufficient anthropomorphism in structural design and limited scope of use. They have fewer degrees of freedom and cannot simultaneously achieve rehabilitation training of the shoulder, arm, and wrist, limiting the flexibility and selectivity of patients during the rehabilitation process. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a flip-type wearable upper limb rehabilitation robot with shared arms. Only one set of rehabilitation arms is needed to flexibly adapt to the rehabilitation training of the left or right arm, which greatly improves the economy and practicality of the upper limb rehabilitation robot and enables a single device to cover a wider range of user needs.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] A flip-type double-arm wearable upper limb rehabilitation robot, comprising:

[0007] A frame, a back fixing plate is provided on the frame, the back fixing plate is provided with a lifting mechanism, the lifting mechanism includes a lifting screw and a back lifting nut seat that cooperate with each other, the front side of the back fixing plate slides with the sliding plate, the sliding plate is connected to the back lifting nut seat, a flip driving motor is provided on one side of the back lifting nut seat, and the output end of the flip driving motor passes through the sliding plate and is connected to the back mounting plate parallel to the sliding plate;

[0008] The rehabilitation arm is slidably matched with the back mounting plate, and the rehabilitation arm includes a shoulder mounting base plate, a shoulder joint abduction and adduction mechanism, a shoulder joint horizontal abduction and adduction mechanism, a shoulder joint flexion and extension mechanism, a shoulder joint internal rotation and external rotation mechanism, an elbow joint flexion and extension mechanism, an elbow joint pronation and supination mechanism, and a wrist flexion and extension mechanism, which are connected in sequence.

[0009] As a further implementation method, a rectangular groove is vertically opened on the back fixing plate, the lifting screw is located on the rear side of the back fixing plate at the rectangular groove, the back mounting plate is located on the front side of the sliding plate, and a lifting mechanism driving unit is provided on the rear side of the back fixing plate for driving the lifting screw to rotate.

[0010] As a further implementation, a lifting rail is provided on the back fixing plate for cooperating with the sliding plate.

[0011] As a further implementation method, an adjustment rail is laterally arranged on the back mounting plate for slidingly cooperating with the shoulder mounting base plate, and a locking block is provided between the shoulder mounting base plate and the back mounting plate to lock the position of the shoulder mounting base plate.

[0012] As a further implementation method, the front side of the shoulder mounting base plate is connected to one end of the acromion part through a shoulder joint abduction and adduction motor, the other end of the acromion part is connected to one end of the lower shoulder part through a shoulder joint horizontal abduction and adduction motor, and the other end of the lower shoulder part is connected to the shoulder joint flexion and extension mechanism through a shoulder joint flexion and extension motor; the cross-section angle of the acromion part is a two-stage type, and the shape of the lower shoulder part is L-shaped.

[0013] As a further implementation method, the shoulder joint flexion and extension mechanism includes an upper arm connecting piece, which is slidably connected to the shoulder joint's internal rotation and external rotation mechanism through an upper arm length adjustment mechanism. The shoulder joint's internal rotation and external rotation mechanism includes an upper arm outer kit, and an upper arm inner kit is movably provided on the inner side of the upper arm outer kit, and the inner side of the upper arm inner kit is used to cooperate with the user's upper arm.

[0014] As a further implementation method, the ends of the internal rotation and external rotation mechanisms of the shoulder joint are connected to the upper end of the elbow joint connecting piece, and the lower end of the elbow joint connecting piece is connected to the elbow joint flexion and extension mechanism through an elbow joint flexion and extension motor. The elbow joint flexion and extension mechanism includes a forearm connecting piece, and the forearm connecting piece is connected to the lower end of the elbow joint connecting piece through the elbow joint flexion and extension motor.

[0015] As a further implementation method, one end of the forearm connecting piece is connected to the forearm body, and a pronation and supination mechanism of the elbow joint is slidably provided on the forearm body.

[0016] As a further implementation, a wrist flexion and extension mechanism is provided on the pronation and supination mechanism of the elbow joint.

[0017] As a further implementation, universal wheels are provided at the bottom of the frame.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The output end of the flipping drive motor of the present invention passes through the sliding plate to connect to the back mounting plate parallel to the sliding plate. The rehabilitation arm slides with the back mounting plate to achieve flipping of the rehabilitation arm. Only one set of rehabilitation arms is needed to flexibly adapt to the rehabilitation training of the left or right arm, which greatly improves the economy and practicality of the upper limb rehabilitation robot, enables a single device to cover a wider range of user needs, brings convenience and efficiency to more patients, and reduces costs.

[0020] 2. The present invention fully considers the bionic design of human upper limbs, accurately simulates the complex movements of human upper limbs, and can realize multi-directional activities of shoulder joints, such as flexion, extension, abduction and adduction, horizontal adduction, horizontal abduction, internal rotation and external rotation. At the same time, it can simulate the flexion, extension, pronation and supination of elbow joints, as well as the flexion and extension of wrist joints. Each degree of freedom of the robot accurately corresponds to the corresponding movement of the human body, and can realize any rehabilitation movement or compound rehabilitation movement, which greatly facilitates patients to carry out targeted motor function recovery training, thereby improving the efficiency of rehabilitation.

[0021] 3. The present invention can adjust the length of the patient's upper arm and forearm, shoulder height and shoulder width according to the body characteristics of different patients, and differentially meet the personalized body needs of different patients. The device can provide each patient with a personalized rehabilitation plan, thereby improving the personalization and comfort of the rehabilitation robot.

[0022] 4. The present invention provides seven degrees of freedom for the upper limb rehabilitation robot in a limited space, reduces the space requirement, is suitable for use in homes or small clinics, and has a wide range of applications. The unique flip-type double-arm sharing design provides a differentiated product, reduces the overall weight and volume of the device, and improves the product's competitive advantage in the market.

[0023] 5. The present invention introduces a rack and pinion transmission mechanism in the structural design, which is respectively used to realize the internal rotation and external rotation of the shoulder joint and the pronation and supination of the elbow joint, so as to facilitate the precise calculation and angle control of the internal rotation and external rotation of the shoulder joint and the pronation and supination of the elbow joint, thereby more accurately assisting patients in rehabilitation training, simplifying the control system, and improving the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0025] Figure 1 is a schematic diagram of the overall structure of a wearable upper limb rehabilitation robot in an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of the main structure of a wearable upper limb rehabilitation robot according to an embodiment of the present invention;

[0027] Figure 3 is a partial rear view of the wearable upper limb rehabilitation robot in an embodiment of the present invention;

[0028] Figure 4 is a partial side view of the wearable upper limb rehabilitation robot in an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of the overall structure of the rehabilitation arm in an embodiment of the present invention;

[0030] Figure 6 It is a schematic diagram of the upper arm length adjustment mechanism and the internal rotation and external rotation mechanism of the shoulder joint in an embodiment of the present invention;

[0031] Figure 7 It is a schematic diagram of the pronation and supination mechanism of the elbow joint and the wrist flexion and extension mechanism in an embodiment of the present invention.

[0032] Figure 8 Schematic diagram of the rehabilitation state of the other side of the wearable upper limb rehabilitation robot in an embodiment of the present invention.

[0033] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only.

[0034] Among them: 1-frame, 11-universal caster, 2-lifting mechanism, 21-back fixing plate, 22-back lifting nut seat, 23-sliding plate, 24-lifting screw, 25-lifting mechanism drive unit, 26-lifting linear rail, 3-mechanical arm flipping mechanism, 31-back mounting plate, 32-flipping drive motor, 4-shoulder width adjustment mechanism, 41-shoulder mounting base plate, 42-adjusting linear rail, 43-locking block, 5-shoulder bionic joint, 51-shoulder abduction and adduction mechanism, 511-acromion parts, 512-shoulder abduction and adduction motor, 52-shoulder horizontal abduction and adduction mechanism, 521-shoulder lower part parts, 522-shoulder horizontal abduction and adduction motor, 53-shoulder flexion and extension mechanism, 531-upper arm connecting piece, 532-shoulder flexion and extension motor, 54-shoulder internal and external rotation mechanism, 5 41-big arm inner kit, 542-big arm outer kit, 543-gear, 544-big arm arc rack, 545-big arm rotation joint motor; 6-big arm, 61-big arm length adjustment mechanism, 611-big arm body, 612-big arm slider, 613-big arm sliding fastener, 62-elbow joint flexion and extension mechanism, 621-elbow joint flexion and extension motor, 622-elbow joint connector, 623-small arm connector, 7-small Arm, 71-pronation and supination mechanism of elbow joint, 711-inner forearm kit, 712-outer forearm kit, 713-forearm gear, 714-arc rack of forearm, 715-elbow joint rotation joint motor, 716-strap, 72-forearm length adjustment mechanism, 721-forearm body, 722-forearm slider, 723-forearm sliding fastener, 73-wrist flexion and extension mechanism, 731-connecting plate, 732-handle. DETAILED DESCRIPTION

[0035] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0036] Embodiment 1

[0037] In a typical embodiment of the present invention, reference is made to Figure 1As shown, a flip-type wearable upper limb rehabilitation robot for both arms includes a frame 1. The frame 1 serves as a support frame to provide a base and support for the flip-type wearable upper limb rehabilitation robot for both arms of the present invention. A plurality of universal casters 11 are provided at the bottom of the frame 1 to drive the frame 1 and the rehabilitation arm fixed on the frame 1 to move. When the rehabilitation robot device of the present invention moves into place, the universal casters 11 are locked to fix the device. The rehabilitation arm includes a shoulder mounting base plate 41, a shoulder joint abduction and adduction mechanism 51, a shoulder joint horizontal abduction and adduction mechanism 52, a shoulder joint flexion and extension mechanism 53, a shoulder joint internal rotation and external rotation mechanism 54, an elbow joint flexion and extension mechanism 62, an elbow joint pronation and supination mechanism 71, and a wrist flexion and extension mechanism 73, which are connected in sequence.

[0038] like Figure 2 and Figure 3 As shown, the lifting mechanism 2 is composed of a back fixing plate 21, a back lifting nut seat 22, a sliding plate 23, a lifting screw 24, a lifting mechanism driving unit 25, and a lifting linear rail 26.

[0039] The frame body is an inverted U-shaped support frame, the back fixing plate 21 is rectangular and fixed between the U-shaped support frames of the frame 1, two lifting rails 26 are fixedly installed on the front surface of the back fixing plate 21, and a sliding plate 23 is slidably installed between the lifting rails 26 for guiding the lifting mechanism 2.

[0040] like Figure 3 As shown, a rectangular groove is opened on the back fixing plate 21, and the rectangular groove is arranged vertically. The rear side of the sliding plate 23 is fixedly connected to the back lifting nut seat 22. The lifting screw 24 is fixed to the rear side of the back fixing plate 21, and the lifting screw 24 is also vertically arranged in the rectangular groove.

[0041] It is understandable that support seats are provided at both ends of the rectangular groove on the rear side of the back fixing plate 21, and both ends of the lifting screw 24 are rotatably matched with the support seats. A lifting mechanism driving unit 25 is also provided on the rear side of the back fixing plate 21, and the vertically arranged lifting screw 24 rotates under the drive of the lifting mechanism driving unit 25. The back lifting nut seat 22 extends to the rear side of the back fixing plate 21 through the rectangular groove and cooperates with the lifting screw 24. The output end of the lifting mechanism driving unit 25 is connected to the end of the lifting screw 24. The lifting screw 24 rotates to realize the lifting nut seat 22 of the back to drive the sliding plate 23 to rise and fall, so as to adjust the height of use during the patient's rehabilitation. The lifting mechanism driving unit 25 of this embodiment is driven by a motor, which can realize automatic height adjustment. The motor cooperates with the driven wheel at the top of the lifting screw 24 through the driving wheel and the belt to realize the rotation of the lifting screw 24. In other examples, the motor and the end of the screw can also be matched in the form of gears.

[0042] like Figure 2 and Figure 4As shown, the mechanical arm flipping mechanism 3 includes a flipping drive motor 32, the output shaft end of the flipping drive motor 32 passes through the sliding plate 23 and is fixedly connected to the back mounting plate 31, and the flipping drive motor 32 is installed on the back lifting nut seat 22. The rotation of the flipping drive motor 32 drives the back mounting plate 31 to rotate, and at the same time drives the shoulder width adjustment mechanism 4 to flip left and right, as shown in FIG. Figure 1 As shown, the rehabilitation unit including the upper arm 6 and the lower arm 7 is located on the right side of the frame 1. When the flip drive motor 32 rotates 180°, the rehabilitation unit can be moved to the left side as a whole, so that the flip-type double-arm wearable upper limb rehabilitation robot of the present invention can be used for rehabilitation training of the patient's left or right arm at the same time.

[0043] It can be understood that the back mounting plate 31 is located in front of the sliding plate 23 and is parallel to the sliding plate 23 , and the area of ​​the back mounting plate 31 is smaller than that of the sliding plate 23 .

[0044] like Figure 2 As shown, the shoulder width adjustment mechanism 4 includes a shoulder mounting base plate 41, an adjustment rail 42, and a locking block 43. Two transversely arranged adjustment rails 42 are installed on the front side of the back mounting plate 31, and are used to guide the shoulder width adjustment mechanism 4. The shoulder mounting base plate 41 is slidably installed on the adjustment rails 42, driving the shoulder bionic joint 5, the upper arm 6, and the lower arm 7 installed on the shoulder mounting base plate 41 to move left and right, thereby realizing the shoulder width adjustment function.

[0045] A locking block is provided between the shoulder mounting base plate 41 and the back mounting plate 31 to lock the position of the shoulder mounting base plate 41. When the shoulder width is adjusted to the desired position, the locking block 43 fixed on the shoulder mounting base plate 41 is manually locked, and the patient can adjust the shoulder width to a suitable position according to his / her needs. The locking block 43 is a prior art, and can be fixed to the locking hole on the back mounting plate 31 by a limit pin installed on the shoulder mounting base plate 41 through a spring.

[0046] like Figure 4 As shown, the shoulder bionic joint 5 includes a shoulder abduction and adduction mechanism 51, a shoulder horizontal abduction and adduction mechanism 52, a shoulder flexion and extension mechanism 53, and a shoulder internal rotation and external rotation mechanism 54.

[0047] The shoulder bionic joint 5 is rotatably connected to the front side of the shoulder mounting base plate 41 through the shoulder joint abduction and adduction motor 512 to match the shoulder width adjustment, and realizes the abduction and adduction movements of the shoulder joint at the same time; the shoulder bionic joint 5 is connected to the upper arm 6 through the shoulder joint flexion and extension motor 532, and a shoulder joint horizontal abduction and adduction mechanism 52 is arranged between the shoulder joint abduction and adduction mechanism 51 and the shoulder joint flexion and extension mechanism 53. Through these settings of the shoulder bionic joint 5, three degrees of freedom of the shoulder joint can be realized: abduction and adduction movements, horizontal adduction and abduction movements of the shoulder joint, and flexion and extension movements of the shoulder joint.

[0048] like Figure 5 As shown, the shoulder joint abduction and adduction mechanism 51 includes an acromion part 511 and a shoulder joint abduction and adduction motor 512. The shoulder mounting base plate 41 is rotationally connected to the acromion part 511 through the shoulder joint abduction and adduction motor 512 to achieve abduction and adduction movements of the shoulder joint.

[0049] The shoulder part 511 is a two-section plate-like structure with an obtuse cross-sectional angle. The rotation center of the first end is used to connect to the output end of the shoulder joint abduction and adduction motor 512, and the second end is provided with a rotation center for connecting to the lower shoulder part 521.

[0050] like Figure 5 As shown, the shoulder joint horizontal abduction and adduction mechanism 52 includes a shoulder lower part 521 and a shoulder joint horizontal abduction and adduction motor 522. The shoulder joint horizontal abduction and adduction motor 522 is installed at the rotation centers of the two ends of the acromion part 511, and its output end passes through the second end rotation center to connect to the shoulder lower part 521, driving the shoulder lower part 521 to rotate.

[0051] like Figure 5 As shown, the lower shoulder part 521 is in the shape of an L-shaped plate structure with two degrees of freedom. A rotation center is provided at its two ends. The first rotation center is connected to the output end of the shoulder joint horizontal abduction and adduction motor 522 at the second end of the acromion part 511 to realize the rotation of the lower shoulder part 521 relative to the second end of the acromion part 511. A shoulder joint flexion and extension motor 532 is provided at the second rotation center, which is connected to the upper arm connecting piece 531 through the shoulder joint flexion and extension motor 532 to drive the upper arm connecting piece 531 to rotate.

[0052] The acromion part 511 and the lower shoulder part 521 of this embodiment are rotationally connected through the shoulder joint horizontal abduction and adduction motor 522 to achieve horizontal abduction and adduction movements of the shoulder joint.

[0053] like Figure 5 As shown, the shoulder joint flexion and extension mechanism 53 includes an upper arm connecting member 531 and a shoulder joint flexion and extension motor 532. The shoulder lower part 521 is rotationally connected to one end of the upper arm connecting member 531 through the shoulder joint flexion and extension motor 532 to realize the flexion and extension movement of the shoulder joint.

[0054] like Figure 5 As shown, the upper arm 6 includes an upper arm length adjustment mechanism 61 and an elbow joint flexion and extension mechanism 62. The upper arm length adjustment mechanism 61 is installed at the other end of the upper arm connecting member 531. The upper arm connecting member 531 is a Z-shaped plate structure.

[0055] The shoulder joint internal rotation and external rotation mechanism 54 is arranged on the upper arm length adjustment mechanism 61, and the lower arm 7 includes an elbow joint pronation and supination mechanism 71, a lower arm length adjustment mechanism 72 and a wrist flexion and extension mechanism 73.

[0056] like Figure 5 As shown, the boom length adjustment mechanism 61 includes a boom body 611, a boom slider 612, and a boom sliding fastener 613. Slide grooves are provided on both sides of the boom body 611. The boom slider 612 cooperates with the linear rail fixed to the slide groove on one side to realize the guidance of the boom length adjustment mechanism 61. After the arm length is adjusted to the right position, the boom sliding fastener 613 connected to the slide groove on the other side is locked; the boom outer sleeve 542 of the internal and external rotation mechanism 54 of the shoulder joint is connected between the boom slider 612 and the boom sliding fastener 613 to realize the adjustment of the boom length.

[0057] like Figure 6 As shown, the internal and external rotation mechanism 54 of the shoulder joint is arranged on the upper arm length adjustment mechanism 61, including an upper arm inner kit 541, an upper arm outer kit 542, a gear 543, an upper arm arc rack 544, and an upper arm rotation joint motor 545.

[0058] The user's upper arm is fixed to the upper arm inner set 541 by means of a strap fixed to the upper arm inner set 541. The upper arm circular arc rack 544 is fixedly installed on the outer surface of the upper arm inner set 541. The gear 543 is rotatably installed on the upper arm outer set 542. The upper arm rotation joint motor 545 is installed on the upper arm slider 612 through a bracket. The output end of the upper arm rotation joint motor 545 is connected to the gear 543 through a rotating shaft. Through the meshing rotation of the gear 543 and the upper arm circular arc rack 544, the upper arm outer set 542 and the upper arm inner set 541 complete mutual rotation, thereby realizing the internal and external rotation of the shoulder joint. The upper arm inner set 541 and the upper arm outer set 542 are both semicircular arc plates, and the two are connected by an arc groove sliding clamping method.

[0059] like Figure 5 As shown, the upper arm 6 is connected to the lower arm 7 through an elbow joint flexion and extension mechanism 62 , and the elbow joint flexion and extension mechanism 62 includes an elbow joint flexion and extension motor 621 , an elbow joint connector 622 , and a lower arm connector 623 .

[0060] The elbow joint connecting piece 622 is a plate-like structure, the upper end of which is connected to the upper arm inner sleeve 541, and the lower end is connected to the elbow joint flexion and extension motor 621. The output end of the elbow joint flexion and extension motor 621 is connected to the forearm connecting piece 623, and the forearm connecting piece 623 is fixedly connected to the forearm 7 to drive the forearm 7 to move. The structure of the forearm connecting piece 623 is the same as that of the upper arm connecting piece.

[0061] The connection angle of the upper arm 6 and the lower arm 7 driven by the lower arm connecting member 623 is changed by the rotation of the elbow joint flexion and extension motor 621, thereby achieving the flexion and extension of the elbow joint.

[0062] like Figure 5 As shown, the arm length adjustment mechanism 72 includes an arm body 721, an arm slider 722, and an arm sliding fastener 723. Slide grooves are provided on both sides of the arm body 721. The arm slider 722 slides with the linear rail fixed to the slide groove on one side to achieve the sliding of the arm slider 722 along the length direction of the arm. After the arm length is adjusted to the right position, the sliding fastener 723 connected to the slide groove on the other side is locked. The arm slider 722 is connected to the pronation and supination mechanism 71 of the elbow joint to achieve the length adjustment of the arm 7.

[0063] The forearm slider 722 is arranged on the linear track on one side of the forearm body 721, and the forearm body 721 is a plate-shaped structure. According to the different lengths of the patient's forearm, the pronation and supination mechanism 71 of the elbow joint is pulled to slide along the linear track fixed on the forearm body 721 through the forearm slider 722, and the pronation and supination mechanism 71 of the elbow joint is adjusted to a suitable position.

[0064] like Figure 7 As shown, the pronation and supination mechanism 71 of the elbow joint includes an inner forearm set 711, an outer forearm set 712, a forearm gear 713, a forearm arc rack 714, and an elbow joint rotation joint motor 715. The structure of the pronation and supination mechanism 71 of the elbow joint is similar to the internal and external rotation mechanism of the shoulder joint.

[0065] A strap 716 is provided on the inner forearm kit 711, and the patient's forearm is fixed to the inner forearm kit 711 by arranging the strap on the inner forearm kit 711. A forearm arc rack 714 is provided on the outer side of the inner forearm kit 711, and a forearm gear 713 is installed at the slot of the outer forearm kit 712. An elbow joint rotation joint motor 715 is provided on the forearm slider 722, and the output end of the elbow joint rotation joint motor 715 is connected to the forearm gear 713 through a rotating shaft. The outer forearm kit 712 is connected between the forearm slider 722 and the forearm sliding fastener 723, and the forearm gear 713 is meshed with the forearm arc rack 714, which can drive the inner forearm kit 711 to swing, thereby realizing the pronation and supination movements of the elbow joint.

[0066] like Figure 7 As shown, a wrist flexion and extension mechanism 73 is provided on the forearm inner set 711, and the wrist flexion and extension mechanism 73 includes a connecting plate 731 and a handle 732. The connecting plate 731 is rotatably connected to the ear plate at the inner edge of the forearm inner set 711, and the handle 732 is fixedly mounted on the end of the connecting plate 731, and the handle 732 itself is rotatable. The connecting plate 731 is rotatable relative to the forearm inner set 711, and the handle 732 is rotatable, and these two rotations together realize the flexion and extension of the wrist joint.

[0067] Embodiment 2

[0068] A flip-type wearable upper limb rehabilitation robot with two arms can achieve flipping through a mechanical arm flipping mechanism 3. The flipping mechanism includes a back mounting plate 31, a shoulder width adjustment mechanism 4, a shoulder bionic joint 5, an upper arm 6 and a lower arm 7.

[0069] In the first scenario, the wearable upper limb rehabilitation robot with both arms can be rotated on the left side of the human body by the mechanical arm flipping mechanism 3, and the horizontal fixation of the rehabilitation arm can be achieved by the sliding plate 23, such as Figure 1 As shown, the patient can sit on a bench or in a wheelchair to perform rehabilitation training for the left arm.

[0070] Embodiment 3

[0071] A flip-type wearable upper limb rehabilitation robot with two arms can be rotated on the right side of the human body by a mechanical arm flipping mechanism 3, and the horizontal fixation of the rehabilitation arm is also achieved by a sliding plate 23.

[0072] In the second scenario, when the rehabilitation robot arm rotates to the right, Figure 8 As shown, it can be used for the rehabilitation of the right arm of the patient. The flip-type wearable upper limb rehabilitation robot for both arms of the present invention can make the same set of devices suitable for the rehabilitation training use scenarios of the left arm or the right arm of the patient at the same time, and facilitate the convenient switching of the rehabilitation scenes at any time.

[0073] The upper limb rehabilitation device can be quickly disassembled and is small in size. Patients can choose to use it at home, in the community or in the hospital, which improves the convenience of multi-scenario application of rehabilitation robots.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wearable upper limb rehabilitation robot with flip-type dual-arm sharing, characterized in that: include: A frame, a back fixing plate is provided on the frame, the back fixing plate is provided with a lifting mechanism, the lifting mechanism includes a lifting screw and a back lifting nut seat that cooperate with each other, the front side of the back fixing plate slides with the sliding plate, the sliding plate is connected to the back lifting nut seat, a flip driving motor is provided on one side of the back lifting nut seat, and the output end of the flip driving motor passes through the sliding plate and is connected to the back mounting plate parallel to the sliding plate; The rehabilitation arm is slidably matched with the back mounting plate, and the rehabilitation arm includes a shoulder mounting base plate, a shoulder joint abduction and adduction mechanism, a shoulder joint horizontal abduction and adduction mechanism, a shoulder joint flexion and extension mechanism, a shoulder joint internal rotation and external rotation mechanism, an elbow joint flexion and extension mechanism, an elbow joint pronation and supination mechanism, and a wrist flexion and extension mechanism, which are connected in sequence.

2. A flip-type dual-arm wearable upper limb rehabilitation robot according to claim 1, characterized in that: A rectangular groove is vertically opened on the back fixing plate, the lifting screw is located at the rear side of the back fixing plate at the rectangular groove, the back mounting plate is located at the front side of the sliding plate, and a lifting mechanism driving unit is provided at the rear side of the back fixing plate for driving the lifting screw to rotate.

3. A flip-type dual-arm wearable upper limb rehabilitation robot according to claim 2, characterized in that: The back fixing plate is provided with a lifting rail for cooperating with the sliding plate.

4. The flip-type dual-arm wearable upper limb rehabilitation robot according to claim 1, characterized in that: An adjustment rail is transversely arranged on the back mounting plate for slidingly cooperating with the shoulder mounting base plate. A locking block is arranged between the shoulder mounting base plate and the back mounting plate to lock the position of the shoulder mounting base plate.

5. The flip-type dual-arm wearable upper limb rehabilitation robot according to claim 4, characterized in that: The front side of the shoulder mounting base plate is connected to one end of the acromion part through a shoulder joint abduction and adduction motor, the other end of the acromion part is connected to one end of the lower shoulder part through a shoulder joint horizontal abduction and adduction motor, and the other end of the lower shoulder part is connected to the shoulder joint flexion and extension mechanism through a shoulder joint flexion and extension motor; the cross-section angle of the acromion part is a two-stage type with an obtuse angle, and the shape of the lower shoulder part is L-shaped.

6. The flip-type dual-arm wearable upper limb rehabilitation robot according to claim 5, characterized in that: The shoulder joint flexion and extension mechanism includes a upper arm connecting piece, which is slidably connected to the internal rotation and external rotation mechanism of the shoulder joint through a upper arm length adjustment mechanism. The internal rotation and external rotation mechanism of the shoulder joint includes an upper arm outer set, and an upper arm inner set is movably provided on the inner side of the upper arm outer set, and the inner side of the upper arm inner set is used to cooperate with the user's upper arm.

7. The flip-type dual-arm wearable upper limb rehabilitation robot according to claim 1, characterized in that: The ends of the internal rotation and external rotation mechanisms of the shoulder joint are connected to the upper end of the elbow joint connecting piece, and the lower end of the elbow joint connecting piece is connected to the elbow joint flexion and extension mechanism through an elbow joint flexion and extension motor. The elbow joint flexion and extension mechanism includes a forearm connecting piece, and the forearm connecting piece is connected to the lower end of the elbow joint connecting piece through the elbow joint flexion and extension motor.

8. The flip-type dual-arm wearable upper limb rehabilitation robot according to claim 7, characterized in that: One end of the forearm connecting piece is connected to the forearm body, and a pronation and supination mechanism of the elbow joint is slidably arranged on the forearm body.

9. The flip-type dual-arm wearable upper limb rehabilitation robot according to claim 8, characterized in that: A wrist flexion and extension mechanism is provided on the pronation and supination mechanism of the elbow joint.

10. The flip-type dual-arm wearable upper limb rehabilitation robot according to claim 1, characterized in that: The bottom of the frame is provided with universal wheels.

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