Upper limb single-arm exoskeleton robot for rehabilitation

Abstract

The upper limb single-arm exoskeleton robot for rehabilitation comprises an upper arm plate, a front arm plate, an elbow joint mechanism and a wrist joint mechanism, and the elbow joint mechanism comprises a first driving assembly, a first transmission assembly and an elbow joint assembly; the elbow joint assembly adopts a double-rocker mechanism, two rockers of the elbow joint assembly are arranged in a crossed mode, the two ends of each rocker are rotationally connected to the ends, close to each other, of the front arm plate and the upper arm plate respectively, and the first driving assembly drives the elbow joint assembly to move through the first transmission assembly and drives the front arm plate to rotate so as to achieve bending / stretching of the elbow joint. The two rockers of the double-rocker mechanism are arranged in a crossed mode, and the instantaneous center track of the crossed point is similar to the instantaneous center track of the elbow joint of the human body, so that the elbow joint movement track of the exoskeleton is similar to the elbow joint movement of the human body, the deviation of the rotation center of the human body joint and the rotation center of the exoskeleton joint is effectively reduced, and the exoskeleton is prevented from extruding human muscles.

Description

Technical Field

[0001] The invention belongs to the field of bionic robots, and in particular relates to an upper limb single-arm exoskeleton robot for rehabilitation. Background Art

[0002] As society ages, the number of diseases continues to increase, especially central nervous system diseases and other diseases that cause impaired motor function, such as stroke, osteoarthritis, etc. Rehabilitation therapy is an indispensable part of the treatment process. These diseases largely lead to movement disorders, and the process of restoring mobility is slow, partly because the complexity of human joint movement leads to long treatment time and high cost. In order to restore mobility, patients must undergo repetitive functional training, which is a time-consuming and arduous task for therapists. Researchers tend to apply exoskeleton robots to the rehabilitation process.

[0003] Upper limb rehabilitation training helps patients recover upper limb function loss caused by disease, injury or surgery. Through systematic training, patients can rebuild muscle strength, joint mobility and coordination. However, the current upper limb rehabilitation exoskeleton robots focus on simulating the movement of human upper limbs, mostly using simple joint structures, and lack the design of aligning the rotation center of human-machine joints. When the upper limb rehabilitation exoskeleton robot is used for rehabilitation training, the exoskeleton joint center and the human joint center are often misaligned, resulting in squeezing of human muscles and dislocation of joints, which will not only reduce the efficiency of rehabilitation, but also cause further damage to human joints.

[0004] Therefore, it is necessary to design a single-arm exoskeleton robot for upper limb rehabilitation. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a single-arm exoskeleton robot for upper limb rehabilitation, which can simulate the instantaneous center trajectory when the human elbow joint is flexed / extended. This makes the elbow joint movement trajectory of the exoskeleton similar to that of the human elbow joint, reduces the deviation between the rotation center of the human joint and the exoskeleton joint, and prevents the exoskeleton from squeezing the human muscles.

[0006] In order to achieve the above-mentioned and other related purposes, the present invention provides a single-arm exoskeleton robot for upper limb rehabilitation, comprising:

[0007] Upper arm plate;

[0008] Forearm plank;

[0009] An elbow joint mechanism, the elbow joint mechanism comprising a first drive assembly, a first transmission assembly and an elbow joint assembly;

[0010] The elbow joint assembly adopts a double rocker mechanism, wherein the two rockers are arranged crosswise, and the two ends of each rocker are rotatably connected to the ends of the forearm plate and the upper arm plate that are close to each other.

[0011] The first driving assembly drives the elbow joint assembly to move through the first transmission assembly, and drives the forearm plate to rotate, so as to achieve flexion / extension of the elbow joint;

[0012] A wrist joint mechanism, the wrist joint mechanism comprising a second drive assembly, a second transmission assembly and a wrist joint assembly;

[0013] The second transmission assembly adopts a parallelogram mechanism, and the second drive assembly drives the wrist joint assembly to rotate through the second transmission assembly to achieve pronation / supination of the wrist joint.

[0014] As an embodiment of the present invention, the first transmission assembly adopts a crank-rocker mechanism, and its driven member is a triangular plate, the first end of the triangular plate is rotatably connected to the connecting rod of the crank-rocker mechanism, and the second and third ends of the triangular plate are rotatably connected to the forearm plate and the upper arm plate respectively.

[0015] As an embodiment of the present invention, the elbow joint assembly includes a connecting rod, the two ends of which are rotatably connected to the forearm plate and the upper arm plate respectively; the connecting edges of the second end and the third end of the triangular plate and the connecting rod are the two rockers of the double rocker mechanism.

[0016] As an embodiment of the present invention, the second transmission assembly includes a first connecting rod, a second connecting rod and a third connecting rod which are rotatably connected in sequence, the first connecting rod and the third connecting rod are equal in length, the other end of the first connecting rod is drivingly connected to the second driving assembly, the other end of the third connecting rod is rotatably connected to an end of the forearm plate away from the upper arm plate, and the distance from the connection point to the driving connection end of the first connecting rod is equal to the equivalent length of the second connecting rod.

[0017] As an embodiment of the present invention, the wrist joint assembly includes a rotating plate, a first rotating rod and a second rotating rod, one end of the first rotating rod and the second rotating rod are respectively rotatably connected to the rotating plate, the other end of the first rotating rod is fixedly connected to the connection between the second connecting rod and the third connecting rod, and the other end of the second rotating rod is rotatably connected to the first connecting rod;

[0018] The plane where the line connecting the connection points of the first rotating rod and the second rotating rod on the rotating plate lies is the first plane, the plane where the straight line passing through the driving connection end of the first connecting rod and parallel to the equivalent length of the second rotating rod lies is the second plane, and the intersection of the first plane and the second plane is the rotation axis of the rotating plate.

[0019] As an embodiment of the present invention, it further comprises a holding piece, wherein the holding piece is fixedly connected to the rotating plate, and the center point of the rod portion of the holding piece is on the rotating axis of the rotating plate.

[0020] As an embodiment of the present invention, the first drive assembly and the second drive assembly have the same structure, both comprising a lasso wheel, a lasso joint shaft and a lasso, the lasso is wound around the lasso wheel, the lasso wheel is mounted on the lasso joint shaft, and tensioning force is applied to the lasso to drive the lasso joint shaft to rotate; the lasso joint shaft of the first drive assembly is drivingly connected to the crank of the first transmission assembly, and the lasso joint shaft of the second drive assembly is drivingly connected to the first connecting rod of the second transmission assembly.

[0021] As an embodiment of the present invention, a first screw slider assembly is provided on the upper arm plate, and an upper arm binding block is provided on the slider of the first screw slider assembly; a second screw slider assembly is provided on the forearm plate, and a wrist slider is provided on the slider of the second screw slider assembly, and the wrist slider is rotatably connected to one end of the wrist slider away from the upper arm plate and the third connecting rod of the second transmission assembly.

[0022] As an embodiment of the present invention, it also includes a back frame and a motor mechanism, wherein a support plate is provided on one side of the back frame, and the support plate is connected to the upper arm plate of the upper limb single-arm exoskeleton robot for rehabilitation, and the motor mechanism is installed on the other side of the back frame, and two lassoes of the motor mechanism are respectively connected to the first drive component and the second drive component of the upper limb single-arm exoskeleton robot for rehabilitation.

[0023] As an embodiment of the present invention, the motor mechanism includes a power supply, a control box and a pair of servo motor assemblies, each of the servo motor assemblies includes a servo motor, a first pulley, a second pulley and a rope, the first pulley and the second pulley are installed at different heights of the back frame through a pulley mounting frame, one end of the rope is wrapped around the output shaft of the servo motor, and is wrapped around the first pulley and the second pulley in sequence, and finally passes through the Bourdon line tube to be connected to the first drive assembly or the second drive assembly.

[0024] The technical effect of the present invention is that the elbow joint assembly of the elbow joint mechanism is set as a double rocker mechanism, and is transmitted through a crank rocker mechanism, the first driving assembly drives the crank of the crank rocker mechanism to rotate, and the crank rocker mechanism transmits the motion to the elbow joint assembly, that is, to the two rockers of the double rocker mechanism for rotation. The two rockers of the double rocker mechanism are arranged crosswise, and the instantaneous center trajectory of the intersection point is similar to the instantaneous center trajectory of the human elbow joint, so that the elbow joint motion trajectory of the exoskeleton is similar to the elbow joint motion of the human body, which can effectively reduce the deviation of the rotation center of the human joint and the exoskeleton joint, and prevent the exoskeleton from squeezing the human muscles.

[0025] The second transmission component of the wrist joint mechanism adopts a parallelogram mechanism, and the second drive component drives the first connecting rod of the parallelogram mechanism to move, thereby driving the parallelogram mechanism to rotate as a whole. At the same time, the first rotating rod and the second rotating rod of the wrist joint component and their connections with the rotating plate and the second drive component respectively constitute a parallelogram mechanism, and move synchronously with the parallelogram mechanism of the second transmission component to make the forearm perform internal rotation / external rotation movement. Its rotation center can be designed to be the center position of the human forearm, that is, the midpoint position of the handle of the grip, which can effectively fit the pronation / supination of the human wrist joint, that is, the internal rotation / external rotation movement of the forearm. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0027] Figure 1 A schematic diagram of a single-arm exoskeleton robot for rehabilitation of an upper limb provided in one embodiment of the present invention Figure 1 ;

[0028] Figure 2 A schematic diagram of a single-arm exoskeleton robot for rehabilitation of an upper limb provided in one embodiment of the present invention Figure 2 ;

[0029] Figure 3 A schematic diagram of the structure of an elbow joint mechanism provided by an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of an elbow joint provided by an embodiment of the present invention;

[0031] Figure 5 A schematic diagram of the structure of a wrist joint mechanism provided by an embodiment of the present invention;

[0032] Figure 6 A schematic diagram of a wrist joint provided by an embodiment of the present invention;

[0033] Figure 7 A cross-sectional schematic diagram of a first transmission assembly provided in one embodiment of the present invention;

[0034] Figure 8 A schematic diagram of a single-arm exoskeleton robot for rehabilitation of an upper limb provided in one embodiment of the present invention Figure 3 ;

[0035] Fig. 9 A diagram showing the installation status of a motor mechanism according to an embodiment of the present invention.

[0036] Among them: upper arm plate 1; forearm plate 2; elbow joint mechanism 3; first drive assembly 31; first transmission assembly 32; triangle plate 321; 322-crank; elbow joint assembly 33; connecting rod 331; wrist joint mechanism 4; second drive assembly 41; second transmission assembly 42; first connecting rod 421; second connecting rod 422; third connecting rod 423; wrist joint assembly 43; rotating plate 431; first rotating rod 432; second rotating rod 433; gripping member 5; cable wheel 311; lasso joint shaft 312; joint box 313; torque sensor 314. Crank 321; first lead screw slider assembly 10; upper arm binding block 101; second lead screw slider assembly 20; wrist slider 201; back frame 6; motor mechanism 7; support plate 61; power supply 71; control box 72; servo motor 731; first pulley 732; second pulley 733; pulley mounting frame 734; Bourdon line tube 735. DETAILED DESCRIPTION

[0037] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0038] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0039] See also Figure 1 and Figure 2To achieve the above-mentioned purpose and other related purposes, the present invention provides a single-arm exoskeleton robot for upper limb rehabilitation, comprising an upper arm plate 1, a forearm plate 2, an elbow joint mechanism 3 and a wrist joint mechanism 4, wherein the elbow joint mechanism 3 comprises a first driving assembly 31, a first transmission assembly 32 and an elbow joint assembly 33; the elbow joint assembly 33 adopts a double rocker mechanism, wherein the two rockers are cross-arranged, and the two ends of each rocker are respectively rotatably connected to the mutually adjacent ends of the forearm plate 2 and the upper arm plate 1, the first driving assembly 31 drives the elbow joint assembly 33 to move through the first transmission assembly 32, and drives the forearm plate 2 to rotate, so as to realize the flexion / extension of the elbow joint; the wrist joint mechanism 4 comprises a second driving assembly 41, a second transmission assembly 42 and a wrist joint assembly 43, the second transmission assembly 42 adopts a parallelogram mechanism, the second driving assembly 41 drives the wrist joint assembly 43 to rotate through the second transmission assembly 42, so as to realize the pronation / supination of the wrist joint, i.e., the internal rotation / external rotation of the forearm.

[0040] Therefore, the rehabilitation upper limb single-arm exoskeleton robot of the present invention can be worn on the human arm to achieve the movement of the elbow joint and forearm with two degrees of freedom. The elbow joint assembly 33 adopts the design of a double rocker mechanism, and its two rockers are arranged crosswise. When the first drive assembly 31 drives the elbow joint assembly 33 to move through the first transmission assembly 32 and drives the forearm plate 2 to rotate, the instantaneous center trajectory of the intersection of the two rockers is similar to the instantaneous center trajectory of the human elbow joint, so that the movement trajectory of the elbow joint assembly 33 of the rehabilitation upper limb single-arm exoskeleton robot is similar to the movement of the human elbow joint, which can effectively reduce the deviation of the rotation center of the human joint and the exoskeleton joint, and prevent the exoskeleton from squeezing the human muscles.

[0041] See also Figure 3 As an embodiment of the present invention, the first transmission assembly 32 adopts a crank rocker mechanism, and its driven member is a triangular plate 321, the first end of the triangular plate 321 is rotatably connected to the connecting rod of the crank rocker mechanism, and the second end and the third end of the triangular plate 321 are rotatably connected to the forearm plate 2 and the upper arm plate 1 respectively.

[0042] It should be noted that the first transmission assembly 32 adopts a crank rocker mechanism and utilizes the triangular plate 321 follower of the crank rocker mechanism, so that the connecting edge of the second end and the third end of the triangular plate 321 and the connecting rod 331 are two rockers of the double rocker mechanism. When the crank 322 of the first transmission assembly 32 rotates under the drive of the first drive assembly 31, the triangular plate 321 will be driven to rotate through the first end of the triangular plate 321. Due to the existence of the double rocker mechanism, the two rockers of the elbow joint assembly 33 use the two connection points of the upper arm plate 1 as fixed points, thereby realizing the smooth rotation of the forearm plate 2. The double rocker mechanism provides better motion stability and reduces the possibility of swinging and vibration. Through the combination of the crank rocker mechanism and the double rocker mechanism, the precise rotation of the forearm plate 2 can be realized. The various components of the elbow joint mechanism 3 are connected by rotation, and its structure is compact and the motion transmission efficiency is also improved, so that the stable rotation of the forearm plate 2 under the action of the elbow joint assembly 33 is realized.

[0043] As an embodiment of the present invention, the elbow joint assembly 33 includes a connecting rod 331, the two ends of which are rotatably connected to the forearm plate 2 and the upper arm plate 1 respectively; the connecting edges of the second end and the third end of the triangular plate 321 and the connecting rod 331 form two rockers of a double rocker mechanism.

[0044] It should be noted that the four-bar mechanism can simulate the instantaneous center trajectory of the elbow joint by reasonably designing the length of the connecting rod and the position of the hinge point. The instantaneous center trajectory of the four-bar mechanism is close to the instantaneous center trajectory of the elbow joint. The range of motion of the fixed rod (simulating the upper arm) and the connecting rod (simulating the forearm) of the four-bar mechanism should be consistent with the flexion and extension range of the elbow joint. The four-bar mechanism should be as compact as possible to meet the wearability requirements of the exoskeleton.

[0045] See Figure 4 As shown, the elbow joint assembly 33 double rocker mechanism (four-bar mechanism), the starting position (D) and the ending position (A), the dotted part is the instantaneous center trajectory of the intersection of the two rockers, and the instantaneous center trajectory is similar to the instantaneous center trajectory of the elbow joint, which means that the mechanism can simulate the movement of the elbow joint well. The four-bar mechanism can simulate the instantaneous center trajectory of the elbow joint by reasonably designing the connecting rod length and the hinge point position. The instantaneous center trajectory of the four-bar mechanism is close to the instantaneous center trajectory of the elbow joint. The range of motion of the fixed rod (simulating the upper arm plate 1) and the connecting rod (simulating the forearm plate 2) of the four-bar mechanism should be consistent with the flexion and extension range of the elbow joint. The four-bar mechanism should be as compact as possible to meet the wearing requirements of the exoskeleton. When using the four-bar mechanism to simulate the movement of the human elbow joint, the similarity with the instantaneous center trajectory of the elbow joint can be achieved, thereby realizing self-adjustment of the center of the elbow joint and increasing the comfort of the human elbow joint.

[0046] As an embodiment of the present invention, the second transmission assembly 42 includes a first connecting rod 421, a second connecting rod 422 and a third connecting rod 423 which are rotatably connected in sequence, the first connecting rod 421 and the third connecting rod 423 are equal in length, the other end of the first connecting rod 421 is drivingly connected to the second driving assembly 41, the other end of the third connecting rod 423 is rotatably connected to one end of the forearm plate 2 away from the upper arm plate 1, and the distance from the connection point to the driving connection end of the first connecting rod 421 is equal to the equivalent length of the second connecting rod 422.

[0047] It should be noted that the first connecting rod 421, the second connecting rod 422, the third connecting rod 423 and the connecting line between the first connecting rod 421 and the third connecting rod 423 form a parallelogram, that is, the second transmission assembly 42 is a parallelogram structure. The second transmission assembly 42, through its unique geometric design, not only improves the stability, accuracy and rigidity of the transmission system, but also provides greater motion flexibility and transmission efficiency. At the same time, the standardization and modularity of this structure also help to simplify the design and manufacturing process and reduce costs. In summary, the parallelogram mechanism is an efficient, reliable and economical design choice in the mechanical transmission system, and is particularly suitable for applications that require precise motion control and high load bearing capacity.

[0048] See Figure 5 As shown, as an embodiment of the present invention, the wrist joint assembly 43 includes a rotating plate 431, a first rotating rod 432 and a second rotating rod 433, one end of the first rotating rod 432 and the second rotating rod 433 are respectively rotatably connected to the rotating plate 431, the other end of the first rotating rod 432 is fixedly connected to the connection between the second connecting rod 422 and the third connecting rod 423, and the other end of the second rotating rod 433 is rotatably connected to the first connecting rod 421;

[0049] The plane where the line connecting the connection points of the first rotating rod 432 and the second rotating rod 433 on the rotating plate 431 lies is the first plane, the plane where the straight line passing through the driving connection end of the first connecting rod 421 and parallel to the equivalent length of the second rotating rod 433 lies is the second plane, and the intersection of the first plane and the second plane is the rotation axis of the rotating plate 431.

[0050] It also includes a holding piece 5 , which is fixedly connected to the rotating plate 431 , and the midpoint of the handle of the holding piece 5 is on the rotating axis of the rotating plate 431 .

[0051] It should be noted that the gripping member 5 is U-shaped, one side plate of the U-shaped member is fixedly connected to the rotating plate 431, and the other side plate of the U-shaped member can be configured as a rod for easy gripping. The first connecting rod 421, the second connecting rod 422, the third connecting rod 423, the first rotating rod 432, and the second rotating rod 433 can be configured in specific shapes according to actual conditions to avoid mutual interference during movement.

[0052] It should be noted that see Figure 6 As shown, the rotation connection point between the first rotating rod 432 and the rotating plate 431 is G, the rotation connection point between the second rotating rod 433 and the rotating plate 431 is F, the first connecting rod 421 is represented by BC, the equivalent length of the second connecting rod 422 is represented by CD, the third connecting rod 423 is represented by DA, the first rotating rod 432 is represented by DG, and the equivalent length of the second rotating rod 433 is represented by FE. The second transmission assembly 42 is a parallelogram mechanism. It can be seen that ABCD is a parallelogram, and CEFG is also a parallelogram. A parallel line of CG through point B and an extension line of GF intersect at point P.

[0053] The two parallelogram mechanisms rotate synchronously, the rotation center of the GF rod is point P and the determined point P is a fixed point, the rotation movement of BC can be transmitted to the rotation of GF around point P, and point P is designed as the midpoint of the handle of the grip 5, that is, the rotation center of the wrist joint, which is consistent with the rotation center of the human wrist. That is, the center position of the human forearm, can effectively fit the internal rotation / external rotation movement of the human forearm.

[0054] See Figure 7 As shown, as an embodiment of the present invention, the first drive assembly 31 and the second drive assembly 41 have the same structure, both including a lasso wheel 311, a lasso joint shaft 312 and a lasso, the lasso is wound around the lasso wheel 311, the lasso wheel 311 is installed on the lasso joint shaft 312, and a tensioning force is applied to the lasso to drive the lasso joint shaft 312 to rotate; the lasso joint shaft 312 of the first drive assembly 31 is drivingly connected to the crank 321 of the first transmission assembly 32, and the lasso joint shaft 312 of the second drive assembly 41 is drivingly connected to the first connecting rod 421 of the second transmission assembly 42.

[0055] It should be noted that see Figure 7 As shown, the first drive assembly 31 and the second drive assembly 41 are integrally arranged in the joint box 313, and the lasso joint shaft 312 is rotatably installed in the joint box 313 through a bearing. The lasso joint shaft 312 extends out of the upper end cover of the joint box 313 and is connected to the torque sensor 314 through a connecting piece.

[0056] The active motion parts of the first drive component 31 and the second drive component 41 can be respectively provided with encoders, and the joint box 313 covering the encoder part can be set to be transparent to facilitate observation of the encoder arranged in the joint box 313. The encoder is used to measure the active joint angles including the elbow joint and the wrist joint, so as to facilitate feedback of the joint motion angles, and then adopt a control algorithm to control the joint motion to run according to the expected trajectory.

[0057] As an embodiment of the present invention, a first screw slider assembly 10 is provided on the upper arm plate 1, and an upper arm binding block 101 is provided on the slider of the first screw slider assembly 10; a second screw slider assembly 20 is provided on the forearm plate 2, and a wrist slider 201 is provided on the slider of the second screw slider assembly 20, and the wrist slider 201 is rotatably connected to one end away from the upper arm plate 1 and the third connecting rod 423 of the second transmission assembly 42.

[0058] It should be noted that the upper arm and upper arm binding block 101 of the human body are tied and fixed, and the hand holds the handle part of the gripping member 5. According to the length of the upper arm and forearm of different human bodies, the first screw slider assembly 10 and the second screw slider assembly 20 can be adjusted.

[0059] See Figure 8 As shown, the present invention also provides an upper limb single-arm exoskeleton robot for rehabilitation, which also includes a back frame 6 and a motor mechanism 7. A support plate 61 is provided on one side of the back frame 6, and the support plate 61 is connected to the upper arm plate 1 of the upper limb single-arm exoskeleton robot for rehabilitation. The motor mechanism 7 is installed on the other side of the back frame 6, and two lassoes of the motor mechanism 7 are respectively connected to the first drive component 31 and the second drive component 41 of the upper limb single-arm exoskeleton robot for rehabilitation.

[0060] It should be noted that the motor mechanism 7 that drives the two active motion joints (wrist joint and elbow joint) is arranged on the back frame 6, and the motor mechanism 7 pulls the corresponding joints to move through the lasso. The lasso consists of two parts: a sleeve and a rope. The sleeve provides a flexible travel channel for the rope, and the rope is generally a steel wire rope. The rope is spirally wound at the joint to increase friction and prevent slipping. The arm part of the wearer of the rehabilitation upper limb exoskeleton robot of the present invention does not include components such as motors and drivers, which reduces the weight of the arm part and is also easy to wear. The motor mechanism 7 is arranged on the back frame 6, and transmits energy to the corresponding two active motion joints (elbow flexion / extension movement, forearm external rotation / internal rotation movement) through the lasso.

[0061] See Fig. 9 As shown, as an embodiment of the present invention, the motor mechanism 7 includes a power supply 71, a control box 72 and a pair of servo motor assemblies, each servo motor assembly includes a servo motor 731, a first pulley 732, a second pulley 733 and a rope, the first pulley 732 and the second pulley 733 are installed at different heights of the back frame 6 through a pulley mounting frame 734, one end of the rope is wound around the output shaft of the servo motor 731, and is wound around the first pulley 732 and the second pulley 733 in sequence, and finally passes through the Bourdon line tube 735 to be connected to the first drive assembly 31 or the second drive assembly 41.

[0062] It should be noted that after the rope passes through the Bourdon line tube 735, a sleeve is placed on the outside to form a lasso. The rope is a flexible body and needs to be pre-tightened. The corresponding pre-tightening design is the first pulley 732 and the second pulley 733. The first pulley 732 and the second pulley 733 are set at different heights, and the ropes on them are wound in opposite directions. The pulley part will make the rope tensioned.

[0063] In summary, the single-arm exoskeleton robot for rehabilitation of upper limbs of the present invention achieves at least the following positive technical effects:

[0064] (1) Elbow joint: The elbow joint assembly is configured as a double rocker mechanism and is driven by a crank rocker mechanism. The first drive assembly 31 drives the crank 322 of the crank rocker mechanism to rotate, and the crank rocker mechanism transmits the motion to the elbow joint assembly, that is, to the two rockers of the double rocker mechanism for rotation. The two rockers of the double rocker mechanism are arranged crosswise, and the instantaneous center trajectory of their intersection is similar to the instantaneous center trajectory of the human elbow joint, so that the motion trajectory of the elbow joint of the exoskeleton is similar to that of the human elbow joint, which can effectively reduce the deviation of the rotation center of the human joint and the exoskeleton joint, and prevent the exoskeleton from squeezing the human muscles.

[0065] (2) Forearm self-spin: The second transmission component 42 adopts a parallelogram mechanism, and the second drive component 41 drives the first connecting rod 421 of the parallelogram mechanism to move, thereby driving the parallelogram mechanism as a whole to rotate. At the same time, the first rotating rod 432 and the second rotating rod 433 of the wrist joint component 43 and their connections with the rotating plate 431 and the second drive component 41 respectively constitute a parallelogram mechanism, and move synchronously with the parallelogram mechanism of the second transmission component 42, so that the forearm performs internal rotation / external rotation movement. The rotation center can be set to the center position of the human forearm, that is, at the midpoint of the handle of the grip 5, which can effectively fit the pronation / supination of the human wrist joint, that is, the internal rotation / external rotation movement of the forearm.

[0066] (3) Back frame 6: Since the upper limb single-arm exoskeleton does not include components such as motors and drivers, the arm portion of the upper limb single-arm exoskeleton is light in weight and easy to wear. The motor, driver, controller, etc. are arranged on the back frame 6, and the energy is transmitted to the corresponding two active motion joints through the lasso to achieve elbow flexion / extension movement, wrist pronation / supination, that is, forearm external rotation / internal rotation movement.

[0067] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

[0068] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0069] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0070] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0071] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0072] As used in the description herein and throughout the claims that follow, "a", "an", and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on" unless otherwise indicated.

[0073] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0074] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0075] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. A single-arm exoskeleton robot for upper limb rehabilitation, characterized in that: include: Upper arm plate (1); Forearm plates (2); An elbow joint mechanism (3), the elbow joint mechanism (3) comprising a first drive assembly (31), a first transmission assembly (32) and an elbow joint assembly (33); The elbow joint assembly (33) adopts a double rocker mechanism, wherein the two rockers are arranged crosswise, and the two ends of each rocker are rotatably connected to the ends of the forearm plate (2) and the upper arm plate (1) that are close to each other. The first driving component (31) drives the elbow joint component (33) to move through the first transmission component (32), and drives the forearm plate (2) to rotate, so as to achieve flexion / extension of the elbow joint; A wrist joint mechanism (4), wherein the wrist joint mechanism (4) comprises a second drive assembly (41), a second transmission assembly (42) and a wrist joint assembly (43); The second transmission component (42) adopts a parallelogram mechanism, and the second drive component (41) drives the wrist joint component (43) to rotate through the second transmission component (42) to achieve pronation / supination of the wrist joint.

2. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 1, characterized in that: The first transmission assembly (32) adopts a crank-rocker mechanism, and its driven member is a triangular plate (321); the first end of the triangular plate (321) is rotatably connected to the connecting rod of the crank-rocker mechanism, and the second end and the third end of the triangular plate (321) are rotatably connected to the forearm plate (2) and the upper arm plate (1), respectively.

3. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 2, characterized in that: The elbow joint assembly (33) comprises a connecting rod (331), the two ends of which are rotatably connected to the forearm plate (2) and the upper arm plate (1), respectively; the connecting edges of the second end and the third end of the triangular plate (321) and the connecting rod (331) form the two rockers of the double rocker mechanism.

4. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 3, characterized in that: The second transmission assembly (42) includes a first connecting rod (421), a second connecting rod (422) and a third connecting rod (423) which are rotatably connected in sequence, the first connecting rod (421) and the third connecting rod (423) are of equal length, the other end of the first connecting rod (421) is drivingly connected to the second driving assembly (41), the other end of the third connecting rod (423) is rotatably connected to an end of the forearm plate (2) away from the upper arm plate (1), and the distance from the connection point to the driving connection end of the first connecting rod (421) is equal to the equivalent length of the second connecting rod (422).

5. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 4, characterized in that: The wrist joint assembly (43) comprises a rotating plate (431), a first rotating rod (432) and a second rotating rod (433), one end of the first rotating rod (432) and the second rotating rod (433) are respectively rotatably connected to the rotating plate (431), the other end of the first rotating rod (432) is fixedly connected to the connection between the second connecting rod (422) and the third connecting rod (423), and the other end of the second rotating rod (433) is rotatably connected to the first connecting rod (421); The plane where the line connecting the connection points of the first rotating rod (432) and the second rotating rod (433) on the rotating plate (431) lies is the first plane, the plane where the straight line passing through the driving connection end of the first connecting rod (421) and parallel to the equivalent length of the second rotating rod (433) lies is the second plane, and the intersection of the first plane and the second plane is the rotation axis of the rotating plate (431).

6. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 5, characterized in that: It also comprises a holding piece (5), wherein the holding piece (5) and the rotating plate (431) are fixedly connected, and the center point of the rod portion of the holding piece (5) is on the rotation axis of the rotating plate (431).

7. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 6, characterized in that: The first driving assembly (31) and the second driving assembly (41) have the same structure, and both comprise a lasso wheel (311), a lasso joint shaft (312) and a lasso; the lasso is wound around the lasso wheel (311); the lasso wheel (311) is mounted on the lasso joint shaft (312) and applies tension to the lasso to drive the lasso joint shaft (312) to rotate; the lasso joint shaft (312) of the first driving assembly (31) is drivingly connected to a crank (322) of the first transmission assembly (32); and the lasso joint shaft (312) of the second driving assembly (41) is drivingly connected to the first connecting rod (421) of the second transmission assembly (42).

8. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 7, characterized in that: The upper arm plate (1) is provided with a first screw slider assembly (10), and the slider of the first screw slider assembly (10) is provided with an upper arm binding block (101); the forearm plate (2) is provided with a second screw slider assembly (20), and the slider of the second screw slider assembly (20) is provided with a wrist slider (201), and the wrist slider (201) is rotatably connected to one end of the wrist slider (201) away from the upper arm plate (1) and the third connecting rod (423) of the second transmission assembly (42).

9. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 8, characterized in that: The invention also comprises a back frame (6) and a motor mechanism (7), wherein a support plate (61) is provided on one side of the back frame (6), and the support plate (61) is connected to an upper arm plate (1) of the rehabilitation upper limb single-arm exoskeleton robot; the motor mechanism (7) is installed on the other side of the back frame (6), and two lassoes of the motor mechanism (7) are respectively connected to a first driving component (31) and a second driving component (41) of the rehabilitation upper limb single-arm exoskeleton robot.

10. The single-arm exoskeleton robot for upper limb rehabilitation according to claim 9, characterized in that: The motor mechanism (7) comprises a power supply (71), a control box (72) and a pair of servo motor assemblies, each of the servo motor assemblies comprises a servo motor (731), a first pulley (732), a second pulley (733) and a rope, the first pulley (732) and the second pulley (733) being mounted at different heights on the back frame (6) via a pulley mounting frame (734), one end of the rope being wound around the output shaft of the servo motor (731), and being wound around the first pulley (732) and the second pulley (733) in sequence, and finally being connected to the first drive assembly (31) or the second drive assembly (41) through the Bourdon line tube (735).

Images