Parallel trunk rehabilitation robot with multiple supporting platforms

Abstract

The invention relates to a medical rehabilitation instrument, in particular to a parallel trunk rehabilitation robot with multiple supporting platforms. The invention aims to provide a parallel trunk rehabilitation robot with multiple supporting platforms, and the robot can flexibly adjust the medical rehabilitation posture of a patient, and is large in working space range and high in bearing capacity. According to the technical scheme, the parallel type trunk rehabilitation robot with the multiple supporting platforms is characterized by comprising a trunk exoskeleton upper platform, a trunk exoskeleton middle platform and a trunk exoskeleton base which are sequentially worn on a human body from top to bottom; the trunk exoskeleton upper platform is connected with the trunk exoskeleton middle platform and the trunk exoskeleton base through three branches.

Description

Technical Field

[0001] The invention relates to a medical rehabilitation device, in particular to a parallel trunk rehabilitation robot with multiple support platforms. Background Art

[0002] With the acceleration of the aging process of society and the changes in modern lifestyles, human health problems, especially diseases and injuries related to the spine and trunk, have gradually become an important factor affecting people's quality of life. The rehabilitation of trunk function is also crucial to improving the quality of life and self-care ability of patients with motor dysfunction. Traditional trunk rehabilitation training methods mainly rely on manual operation by physical therapists or the use of simple auxiliary equipment, which are inefficient, poorly personalized and low in precision.

[0003] With the development of robotics technology, intelligent rehabilitation robots have gradually become an important tool for treating trunk movement disorders. Currently, some rehabilitation robot systems have been used for trunk and spine rehabilitation treatment, but most of the support platforms are designed in a single way or cannot fully take into account all parts of the patient's trunk. In addition, most of the existing rehabilitation robots use a series structure or a simple parallel structure, which is limited by stiffness, precision, etc., and the stability and accuracy during the treatment process are insufficient.

[0004] Compared with serial robots, rehabilitation robots based on parallel robot structures show better performance in terms of accuracy, rigidity, stability, etc. They have the advantages of multiple degrees of freedom, high rigidity and high-precision control. They can provide precise motion control under large loads and are suitable for rehabilitation training of trunk functions.

[0005] Therefore, how to design a parallel rehabilitation robot that can provide multi-point support, effectively control trunk movement, and improve the accuracy of rehabilitation training has become an urgent issue to be solved in current rehabilitation robot technology. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a parallel trunk rehabilitation robot with multiple support platforms, which can flexibly adjust the patient's medical rehabilitation posture and has a large working space range and high bearing capacity.

[0007] The technical solution of the present invention is:

[0008] A parallel trunk rehabilitation robot with multiple support platforms, characterized in that it comprises a trunk exoskeleton upper platform, a trunk exoskeleton middle platform and a trunk exoskeleton base which are sequentially worn on a human body from top to bottom, wherein the trunk exoskeleton upper platform is connected to the trunk exoskeleton middle platform and the trunk exoskeleton base through three branches;

[0009] The three branches are two first branches and one second branch; the first branch includes a RUS branch body and a first RRR connection structure, and the second branch includes an RRU branch body and a second RRR connection structure;

[0010] The RUS branch body includes a first revolute pair, a first connecting rod, a first Hooke's joint, a second connecting rod and a first ball joint connected in sequence between the trunk exoskeleton base and the trunk exoskeleton upper platform, and the first RRR connection structure includes a second revolute pair, a seventh connecting rod, a sixth revolute pair, a ninth connecting rod and a seventh revolute pair connected in sequence between the first connecting rod and the trunk exoskeleton middle platform;

[0011] The RRU branch body includes a third revolute pair, a third connecting rod, a fourth revolute pair, a fourth connecting rod and a second Hooke's joint connected in sequence between the trunk exoskeleton base and the trunk exoskeleton upper platform, and the second RRR connection structure includes a second revolute pair, a seventh connecting rod, a sixth revolute pair, a ninth connecting rod and a seventh revolute pair connected in sequence between the third connecting rod and the trunk exoskeleton middle platform;

[0012] or,

[0013] The three branches are two third branches and one fourth branch; the third branch includes a RUS branch body and a first PRR connection structure, and the fourth branch includes an RRU branch body and a second PRR connection structure;

[0014] The RUS branch body includes a first rotation pair, a first connecting rod, a first Hooke's joint, a second connecting rod and a first ball joint connected in sequence between the trunk exoskeleton base and the trunk exoskeleton upper platform, and the first PRR connection structure includes a first translation pair, a fifth rotation pair, an eighth connecting rod and an eighth rotation pair connected in sequence between the first connecting rod and the trunk exoskeleton middle platform;

[0015] The RRU branch body includes a third rotation pair, a third connecting rod, a fourth rotation pair, a fourth connecting rod and a second Hooke's joint connected in sequence between the torso exoskeleton base and the torso exoskeleton upper platform, and the second PRR connection structure is connected in sequence between the second moving pair, the fifth rotation pair, the eighth connecting rod and the eighth rotation pair between the third connecting rod and the torso exoskeleton middle platform.

[0016] The upper platform of the trunk exoskeleton, the middle platform of the trunk exoskeleton and the base of the trunk exoskeleton are all enclosed by hoops into an elliptical shape suitable for the human torso; the connection point of the second branch with the upper platform of the trunk exoskeleton is located on the short axis of the elliptical upper platform of the trunk exoskeleton, the connection point of the second branch with the middle platform of the trunk exoskeleton is located on the short axis of the middle platform of the elliptical middle platform of the trunk exoskeleton, and the connection point of the second branch with the base of the trunk exoskeleton is located on the short axis of the elliptical base of the trunk exoskeleton; the connection point of the first branch with the upper platform of the trunk exoskeleton is located on the long axis of the upper platform of the elliptical trunk exoskeleton, the connection point of the first branch with the middle platform of the trunk exoskeleton is located on the long axis of the middle platform of the elliptical middle platform of the trunk exoskeleton, and the connection point of the first branch with the base of the trunk exoskeleton is located on the long axis of the elliptical base of the trunk exoskeleton;

[0017] Similarly, the connection point of the fourth branch and the upper platform of the torso exoskeleton is located on the short axis of the elliptical torso exoskeleton upper platform, the connection point of the fourth branch and the middle platform of the torso exoskeleton is located on the short axis of the middle platform of the elliptical torso exoskeleton, and the connection point of the fourth branch and the torso exoskeleton base is located on the short axis of the elliptical torso exoskeleton base; the connection point of the third branch and the upper platform of the torso exoskeleton is located on the long axis of the elliptical torso exoskeleton upper platform, the connection point of the third branch and the middle platform of the torso exoskeleton is located on the long axis of the elliptical torso exoskeleton middle platform, and the connection point of the third branch and the torso exoskeleton base is located on the long axis of the elliptical torso exoskeleton base.

[0018] The second branch corresponds vertically to the three connection points of the upper platform of the torso exoskeleton, the middle platform of the torso exoskeleton and the base of the torso exoskeleton, and each first branch corresponds vertically to the three connection points of the upper platform of the torso exoskeleton, the middle platform of the torso exoskeleton and the base of the torso exoskeleton; the fourth branch corresponds vertically to the three connection points of the upper platform of the torso exoskeleton, the middle platform of the torso exoskeleton and the base of the torso exoskeleton, and each third branch corresponds vertically to the three connection points of the upper platform of the torso exoskeleton, the middle platform of the torso exoskeleton and the base of the torso exoskeleton.

[0019] The first movable pair includes the first connecting rod and a slider slidably disposed on the first connecting rod, and the second movable pair includes the third connecting rod and a slider slidably disposed on the third connecting rod.

[0020] All the secondary rotation axes of the first branch and the first rotation axis axis of the first connecting rod connected by the first Hooke's hinge are parallel to each other; all the secondary rotation axes of the second branch and the first rotation axis axis of the fourth connecting rod connected by the second Hooke's hinge are parallel to each other; all the secondary rotation axes of the third branch and the first rotation axis axis of the first connecting rod connected by the first Hooke's hinge are parallel to each other; all the secondary rotation axes of the fourth branch and the first rotation axis axis of the fourth connecting rod connected by the second Hooke's hinge are parallel to each other.

[0021] The first rotating pair, the third rotating pair and the fourth rotating pair are all driving pairs, which are driven by a driving motor through a gear reduction mechanism.

[0022] A parallel multi-support exoskeleton robot for trunk rehabilitation, characterized in that it includes a trunk exoskeleton upper platform, a trunk exoskeleton middle platform and a trunk exoskeleton base which are worn on the human body in sequence from top to bottom, the trunk exoskeleton upper platform connecting the trunk exoskeleton middle platform and the trunk exoskeleton base through five branches; the trunk exoskeleton upper platform, the trunk exoskeleton middle platform and the trunk exoskeleton base are all enclosed by hoops into an elliptical shape suitable for the human trunk.

[0023] The five branches include one fifth branch and four sixth branches;

[0024] The fifth branch includes an RRU branch body and a third RRR connection structure; the sixth branch includes an RUS branch body and a fourth RRR connection structure;

[0025] The RRU branch body includes a third Hooke's joint, a fifth connecting rod, a tenth rotational pair, a sixth connecting rod and a ninth rotational pair, which are sequentially connected between the upper platform of the torso exoskeleton and the base of the torso exoskeleton; the third RRR connection structure includes a second rotational pair, a seventh connecting rod, a sixth rotational pair, a ninth connecting rod and a seventh rotational pair, which are sequentially connected between the fifth connecting rod and the middle platform of the torso exoskeleton;

[0026] The RUS branch body includes a first ball joint, a second connecting rod, a first Hooke's joint, a first connecting rod and a first revolute pair connected in sequence between the upper platform of the torso exoskeleton and the base of the torso exoskeleton, and the fourth RRR connection structure includes a second revolute pair, a seventh connecting rod, a sixth revolute pair, a ninth connecting rod and a seventh revolute pair connected in sequence between the first connecting rod and the middle platform of the torso exoskeleton;

[0027] Alternatively, the five branches include one seventh branch and four eighth branches;

[0028] The seventh branch includes an RRU branch body and a third PRR connection structure; the eighth branch includes an RUS branch body and a fourth PRR connection structure;

[0029] The RRU branch body includes a third Hooke's joint, a fifth connecting rod, a tenth rotational pair, a sixth connecting rod and a ninth rotational pair sequentially connected between the upper platform of the torso exoskeleton and the base of the torso exoskeleton; the third PRR connection structure includes a third mobile pair, a fifth rotational pair, an eighth connecting rod and an eighth rotational pair sequentially connected between the sixth connecting rod and the middle platform of the torso exoskeleton; the third mobile pair includes a slider connected to the fifth rotational pair and a sixth connecting rod slidably matched with the slider;

[0030] The RUS branch body is connected to the first ball joint, the second connecting rod, the first Hooke's joint, the first connecting rod and the first rotation pair between the upper platform of the torso exoskeleton and the base of the torso exoskeleton. The fourth PRR connection structure includes a fourth mobile pair, a fifth rotation pair, an eighth connecting rod and an eighth rotation pair which are sequentially connected between the first connecting rod and the middle platform of the torso exoskeleton. The fourth mobile pair includes a slider connected to the fifth rotation pair and a first connecting rod slidably matched with the slider.

[0031] The five branches are respectively provided with a connection point with the three fixed units (i.e., the upper platform of the trunk exoskeleton, the middle platform of the trunk exoskeleton, and the base of the trunk exoskeleton), and the distances between the two adjacent connection points on each fixed unit are substantially the same. In addition, the connection point with the fifth branch or the seventh branch on each fixed unit is located on the back of the wearer, and the connection points on the three fixed units are arranged in correspondence up and down. The remaining four branches are also arranged in sequence along the circumference of the three fixed units, and the three connection points of each branch on the three fixed units are also arranged in correspondence up and down.

[0032] All the rotational secondary axes in the fifth branch are parallel to each other, all the rotational secondary axes in the sixth branch are parallel to each other, all the rotational secondary axes in the seventh branch are parallel to each other and perpendicular to the third movement secondary axis, and all the rotational secondary axes in the eighth branch are parallel to each other and perpendicular to the fourth movement secondary axis.

[0033] The fifth branch and the seventh branch, the tenth rotation pair and the ninth rotation pair are all drive pairs, and the drive mechanisms are gear reduction mechanisms driven by the third drive motor;

[0034] In the two sixth branches closest to the fifth branch, the first rotating pair is the driving pair, and the driving mechanism is a gear reduction mechanism driven by the first driving motor; in the two eighth branches closest to the seventh branch, the first rotating pair is the driving pair, and the driving mechanism is a gear reduction mechanism driven by the first driving motor.

[0035] The driving motor and the gear reduction mechanism are both fixed on the hinged ears of the corresponding rotating pair.

[0036] The beneficial effects of the present invention are:

[0037] The present invention can flexibly adjust the patient's posture during medical rehabilitation, and has significant advantages such as compact structure, large working space, good dexterity, and high bearing capacity, which helps patients maintain movement balance during rehabilitation and improves rehabilitation efficiency. At the same time, designing personalized rehabilitation training programs can improve the scientific nature of rehabilitation training, use quantitative evaluation indicators to achieve standardization of the rehabilitation treatment process, and improve the operability and scope of application of the robot, which can provide patients with more stable and comfortable support during treatment, and enhance the robot's ability to accurately control the patient's trunk movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the use status of an embodiment of the present invention.

[0039] Figure 2 It is a schematic diagram of the three-dimensional structure of Example 1 of the present invention.

[0040] Figure 3 This is a schematic diagram of the three-dimensional structure of the first branch in Example 1 of the present invention.

[0041] Figure 4 It is a schematic diagram of the three-dimensional structure of the second branch in Example 1 of the present invention.

[0042] Figure 5 It is a schematic diagram of the three-dimensional structure of two RRR connection structures in Example 1 of the present invention.

[0043] Figure 6 It is a schematic diagram of the three-dimensional structure of Example 2 of the present invention.

[0044] Figure 7 This is a schematic diagram of the three-dimensional structure of the third branch in Example 2 of the present invention.

[0045] Figure 8 It is a schematic diagram of the three-dimensional structure of the fourth branch in Example 2 of the present invention.

[0046] Fig. 9 for Figure 7 and Figure 8 Schematic representation of the three-dimensional structure of the PRR junction structure in the indicated branch.

[0047] Fig.10 This is a schematic diagram of the usage status of Example 3 of the present invention.

[0048] Fig.11 It is a schematic diagram of the three-dimensional structure of Example 3 of the present invention.

[0049] Fig.12 Schematic diagram of the three-dimensional structure of the fifth branch in Example 3 of the present invention.

[0050] Fig.13 This is one of the three-dimensional structural schematic diagrams of the sixth branch in Example 3 of the present invention (equipped with a drive motor).

[0051] Fig.14 This is the second schematic diagram of the three-dimensional structure of the sixth branch in Example 3 of the present invention (without a driving motor).

[0052] Fig.15 This is a schematic diagram of the usage status of Example 4 of the present invention.

[0053] Fig.16 It is a schematic diagram of the three-dimensional structure of Example 4 of the present invention.

[0054] Fig.17 It is a schematic diagram of the three-dimensional structure of the seventh branch in Example 4 of the present invention.

[0055] Fig.18 This is one of the three-dimensional structural schematic diagrams of the eighth branch in Example 4 of the present invention (equipped with a drive motor).

[0056] Fig.19 This is the second schematic diagram of the three-dimensional structure of the eighth branch in Example 4 of the present invention (without a driving motor).

[0057] Reference numerals:

[0058] DETAILED DESCRIPTION

[0059] The present invention is further described below with reference to the embodiments shown in the accompanying drawings.

[0060] Example 1

[0061] like Figure 1 As shown, a parallel trunk rehabilitation robot with multiple support platforms includes a trunk exoskeleton upper platform 3, a trunk exoskeleton middle platform 2 and a trunk exoskeleton base 1 which are worn on a human body 8 in sequence from top to bottom; the trunk exoskeleton upper platform, the trunk exoskeleton middle platform and the trunk exoskeleton base are all enclosed by detachable hoop straps connected end to end to form an ellipse suitable for the human body, and the hoop strap is recommended to be a widened belt (conventional component) equipped with a belt buckle, which can adjust the tightness and is easy to disassemble. When in use, the widened belt is connected end to end to form an ellipse and is fixed on the human body; wherein, the trunk exoskeleton upper platform is laterally tightened on the human body's chest, the trunk exoskeleton base is laterally tightened on the human body's waist, and the trunk exoskeleton middle platform is located between the first two. The hoop strap is also provided with a plurality of through holes for ventilation.

[0062] like Figure 2As shown, three branches connected in parallel are provided between the trunk exoskeleton upper platform 3, the trunk exoskeleton middle platform 2 and the trunk exoskeleton base 1, including two first branches 4 and one second branch 5.

[0063] like Figure 3 As shown, the first branch 4 includes a RUS branch body and a first RRR connection structure, wherein the RUS branch body includes a first revolute pair 41, a first connecting rod 42, a first Hooke's joint 44, a second connecting rod 45 and a first ball joint 46 which are sequentially connected between the trunk exoskeleton base 1 and the trunk exoskeleton upper platform 3, one end of the first connecting rod 42 is rotationally matched with the trunk exoskeleton base 3 through the first revolute pair 41; the other end of the first connecting rod 42 is connected and matched with one end of the second connecting rod 45 through the first Hooke's joint 44, and the other end of the second connecting rod 45 is connected and matched with the trunk exoskeleton upper platform through the first ball joint 46.

[0064] like Figure 4 As shown, the second branch 5 includes an RRU branch body and a second RRR connection structure, wherein the RRU branch body includes a third rotational pair 51, a third connecting rod 52, a fourth rotational pair 53, a fourth connecting rod 54 and a second Hooke's joint 55 which are sequentially connected between the torso exoskeleton base 1 and the torso exoskeleton upper platform 3; one end of the third connecting rod 52 is rotationally matched with the torso exoskeleton base 3 through the third rotational pair 51, the other end of the third connecting rod 52 is rotationally matched with one end of the fourth connecting rod 54 through the fourth rotational pair 53, and the other end of the fourth connecting rod 54 is connected and matched with the torso exoskeleton upper platform through the second Hooke's joint 55.

[0065] like Figure 5 As shown, the RRR connection structures in the three branches have the same structure, and the RRR connection structure includes a second rotation pair 43, a seventh link 47, a sixth rotation pair 48, a ninth link 49 and a seventh rotation pair 410 which are sequentially connected between the three branches and the trunk exoskeleton intermediate platform 2; for the first branch (see Figure 3 ), one end of the seventh link 47 is rotationally matched with the trunk exoskeleton intermediate platform 2 through the sixth rotation pair 48, the ninth link 49 and the seventh rotation pair 410 in sequence, and the other end of the seventh link 47 is rotationally matched with the first link 42 through the second rotation pair 43; for the second branch (see Figure 4 ), one end of the seventh connecting rod 47 is rotationally matched with the trunk exoskeleton middle platform 2 through the sixth rotating pair 48, the ninth connecting rod 49 and the seventh rotating pair 410 in sequence, and the other end of the seventh connecting rod 47 is rotationally matched with the third connecting rod 52 through the second rotating pair 43.

[0066] In this embodiment, the two first branches 4 are symmetrically arranged on the left and right sides of the human body trunk, and the second branch 5 is arranged in the center of the two first branches, and the second branch corresponds to the three connection points of the trunk exoskeleton upper platform, the trunk exoskeleton middle platform and the trunk exoskeleton base.

[0067] In this embodiment, the first branch 4

[0068] All the secondary rotation axes are parallel to the first rotation axis axis connecting the first link 42 with the first Hooke's joint 44, and perpendicular to the second rotation axis axis connecting the second link 45 with the first Hooke's joint 44; all the secondary rotation axes of the second branch 5 are parallel to the first rotation axis axis connecting the fourth link 54 with the second Hooke's joint 55, and perpendicular to the second rotation axis axis connecting the second Hooke's joint 55 to the upper platform 1 of the torso exoskeleton.

[0069] In this embodiment, the first rotating pair 41, the third rotating pair 51 and the fourth rotating pair 53 are all drive pairs, which are driven by a drive motor through a gear reduction mechanism; the drive motor and the gear reduction mechanism are fixed on the hinged ears of the corresponding rotating pairs (such as the first drive motor 81 and the gear reduction mechanism of the first rotating pair 41 are fixed on the hinged ears of the first rotating pair; such as the second drive motor 82 and the gear reduction mechanism of the third rotating pair 51 are fixed on the hinged ears of the third rotating pair).

[0070] Example 2

[0071] This embodiment is basically similar to Embodiment 1, and the only difference is that the three branches connected in parallel between the trunk exoskeleton upper platform 1, the trunk exoskeleton middle platform 2 and the trunk exoskeleton base 3 are two third branches 6 and one fourth branch 7.

[0072] like Figure 6 , 7 As shown in FIGS. 8 and 8 , the third branch 6 of this embodiment includes a RUS branch body and a first PRR connection structure, and the fourth branch 7 includes an RRU branch body and a second PRR connection structure.

[0073] Since the RRR connection structure is replaced by the PRR connection structure, the third branch 6 reduces the second rotation pair 43 and increases the first movement pair compared to the first branch 4 of Example 1; the fourth branch 7 reduces the second rotation pair 43 and increases the second movement pair compared to the second branch 5 of Example 1.

[0074] like Fig. 9As shown, the PRR connection structure of the three branches has the same structure, including a moving pair, a fifth rotation pair 58, an eighth connecting rod 59 and an eighth rotation pair 56 connected in sequence between the three branches and the trunk exoskeleton intermediate platform 2; wherein, the first moving pair of the third branch 6 includes a slider 57 and a first connecting rod 42 slidably matched with the slider, wherein the slider 57 is rotationally matched with one end of the eighth connecting rod 59 through the fifth rotation pair 58, and the other end of the eighth connecting rod 59 is rotationally matched with the trunk exoskeleton intermediate platform 2 through the eighth rotation pair 56; the second moving pair of the fourth branch includes a slider 57 and a third connecting rod 52 slidably matched with the slider, wherein the slider 57 is rotationally matched with one end of the eighth connecting rod 59 through the fifth rotation pair 58, and the other end of the eighth connecting rod 59 is rotationally matched with the trunk exoskeleton intermediate platform 2 through the eighth rotation pair 56.

[0075] In this embodiment, the two third branches are symmetrically arranged on the left and right sides of the human body trunk, the fourth branch is arranged in the center of the two third branches, and the fourth branch corresponds to the three connection points of the trunk exoskeleton upper platform, the trunk exoskeleton middle platform and the trunk exoskeleton base.

[0076] This embodiment is the same as embodiment 1, and the first rotating pair 41, the third rotating pair 51 and the fourth rotating pair 53 are all driving pairs, which are driven by the driving motor through the gear reduction mechanism; the driving mechanism (omitted in the figure) is also a gear reduction mechanism driven by the driving motor, and is respectively fixed on the first connecting rod 42 and the third connecting rod 52.

[0077] Example 3

[0078] like Fig.11 As shown, this embodiment includes a trunk exoskeleton upper platform 3, a trunk exoskeleton middle platform 2, a trunk exoskeleton base 1 and five branches which are worn on the human body from top to bottom. The trunk exoskeleton upper platform, the trunk exoskeleton middle platform and the trunk exoskeleton base are all enclosed by detachable hoops connected end to end to form an ellipse suitable for the human body; the five branches include a fifth branch 9 and four sixth branches 10.

[0079] The five branches are respectively provided with a connection point with three elliptical fixed platforms (i.e., the upper platform of the trunk exoskeleton, the middle platform of the trunk exoskeleton, and the base of the trunk exoskeleton), and the distances between two adjacent connection points on each elliptical fixed platform are substantially the same. In addition, the connection points of each branch with the three fixed platforms are arranged correspondingly up and down.

[0080] like Fig.12As shown, the fifth branch includes the eleventh Hooke's joint 65, the fifth connecting rod 64, the tenth rotational pair 63, the sixth connecting rod 62 and the ninth rotational pair 61 connected in sequence between the upper platform 1 of the torso exoskeleton and the base 3 of the torso exoskeleton, and the second rotational pair 43, the seventh connecting rod 47, the sixth rotational pair 48, the ninth connecting rod 49 and the seventh rotational pair 410 connected in sequence between the sixth connecting rod 64 and the middle platform of the torso exoskeleton. The rotation axes of the tenth rotational pair, the ninth rotational pair, the second rotational pair, the sixth rotational pair and the seventh rotational pair are parallel to each other. The tenth rotational pair and the ninth rotational pair in this branch are driving pairs.

[0081] like Fig.13 , Fig.14 As shown, the sixth branch 10 includes a first ball joint 46, a second link 45, a first Hooke's joint 44, a first link 42 and a first rotational pair 41 connected in sequence between the upper platform of the torso exoskeleton and the base of the torso exoskeleton, and a second rotational pair 43, a seventh link 47, a sixth rotational pair 48, a ninth link 49 and a seventh rotational pair 410 connected in sequence between the first link 42 and the middle platform of the torso exoskeleton. The rotation axes of the first rotational pair, the second rotational pair, the sixth rotational pair and the seventh rotational pair in this branch are parallel to each other.

[0082] Fig.13 , Fig.14 They are all the sixth branch 10, except that; Fig.13 The two sixth branches are located near the fifth branch 9, and the first rotating pair 41 is a driving pair; Fig.14 The two sixth branches in are not drive pairs.

[0083] It can be seen from the figure that the connection point between the fifth branch and each elliptical fixed platform is located on the short axis of the elliptical fixed platform, and the connection points between the three elliptical fixed platforms and the fifth branch are arranged in correspondence with each other; when in use, the connection point between the fifth branch and each fixed unit is just located on the back of the wearer. The remaining four sixth branches are also arranged in sequence along the circumference of the three elliptical fixed platforms, and the three connection points of each sixth branch on the three elliptical fixed platforms are also basically arranged in correspondence with each other.

[0084] In this embodiment, the tenth rotating pair 63 and the ninth rotating pair 61 of the fifth branch 9, and the first rotating pair 41 of the two sixth branches 10 closest to the fifth branch are all rotating pairs driven by the motor through the gear reduction mechanism (the tenth rotating pair 63 and the ninth rotating pair 61 are driven by the third driving motor 83); as can be seen from the figure: the driving motor and the gear reduction mechanism are both fixed on the hinge ears of the corresponding rotating pair.

[0085] Fig.10The figure shows the schematic diagram of the use of the third embodiment of the present invention. The patient first needs to wear the exoskeleton robot. It is connected to the human body through the fixing devices at the waist and shoulders to ensure that it will not loosen or slip during exercise. Through four drive motors, the upper platform of the trunk exoskeleton of the trunk rehabilitation robot can be moved to achieve two shifts and two turns with four degrees of freedom output, thereby assisting the wearer's body in rehabilitation training.

[0086] Example 4

[0087] Depend on Figures 15 to 19 It can be seen that the arrangement of Example 4 is completely similar to that of Example 3, and the only difference lies in the branch mechanism, that is, the fifth branch 9 is replaced by the seventh branch 11, and the sixth branch 10 is replaced by the eighth branch 12.

[0088] Specifically, the present embodiment includes a trunk exoskeleton base 1 worn on a human body, a trunk exoskeleton middle platform 2, a trunk exoskeleton upper platform 3, and five branches; the five branches include a seventh branch 11 and four eighth branches 12.

[0089] The seventh branch 11 includes an eleventh Hooke's joint 65, a fifth connecting rod 64, a tenth rotational pair 63, a sixth connecting rod 62 and a ninth rotational pair 61 connected in sequence between the upper platform of the torso exoskeleton and the base of the torso exoskeleton, and a third translation pair, a fifth rotational pair 58, an eighth connecting rod 59 and an eighth rotational pair 56 connected in sequence between the sixth connecting rod 62 and the middle platform of the torso exoskeleton.

[0090] The third movable pair includes a slider 57 connected to the fifth rotation pair 58 and a sixth connecting rod 62 slidably matched with the slider 57. All rotation pair axes in the seventh branch are parallel to each other and perpendicular to the third movable pair axis.

[0091] The eighth branch 12 includes a first ball joint 46, a second link 45, a first Hooke's joint 44, a first link 42 and a first rotational pair 41 connected in sequence between the upper platform of the trunk exoskeleton and the base of the trunk exoskeleton, and a fourth translation pair, a fifth rotational pair 58, an eighth link 59 and an eighth rotational pair 56 connected in sequence between the first link 42 and the middle platform of the trunk exoskeleton;

[0092] The fourth movable pair includes a slider 57 connected to the fifth rotation pair 58 and a first connecting rod 42 slidingly matched with the slider 57; all the rotation pair axes in the eighth branch and the rotation axis of the first Hooke's joint 44 connecting the first connecting rod 42 are parallel to each other and perpendicular to the fourth movable pair axis.

[0093] It can be seen from the figure that the five branches are respectively provided with a connection point with the three elliptical fixed platforms (i.e., the upper platform of the trunk exoskeleton, the middle platform of the trunk exoskeleton, and the base of the trunk exoskeleton), and the distances between the two adjacent connection points on each elliptical fixed platform are basically the same. Among them, the connection point of the seventh branch 11 with each elliptical fixed platform is located on the minor axis of the elliptical fixed platform, and the connection points of the three elliptical fixed platforms with the seventh branch are arranged in correspondence with each other; when in use, the connection point of the seventh branch with each fixed unit is just located on the back of the wearer. The remaining four eighth branches 12 are also arranged in sequence along the circumference of the three elliptical fixed platforms, and each of the eight branches 12 is also basically arranged in correspondence with each other at the three connection points of the three elliptical fixed platforms.

[0094] The seventh branch 11, the tenth rotation pair 63 and the ninth rotation pair 61 are all drive pairs, and the drive mechanisms are gear reduction mechanisms driven by the third drive motor 83; the drive motor and the gear reduction mechanism are both fixed on the corresponding connecting rod.

[0095] Fig.18 , Fig.19 All of them are the eighth branch 12, except that: Fig.18 The two eighth branches 12 are located near the seventh branch 11, and the first rotating pair 41 is a driving pair, and the driving mechanism is a gear reduction mechanism driven by the first driving motor 81; the driving motor and the gear reduction mechanism are both fixed on the hinge ears of the corresponding rotating pair. Fig.19 The two eighth branches 12 in the transmission line are not drive pairs.

[0096] The usage of this embodiment is the same as that of embodiment 3. Through four driving motors, the upper platform of the trunk exoskeleton of the trunk rehabilitation robot can be moved to achieve two shifts, two turns and four degrees of freedom output, thereby assisting the wearer's body in rehabilitation training. The parallel trunk rehabilitation robot can achieve flexible and high-precision movements in trunk rehabilitation training. It can be worn on the human body through the trunk exoskeleton base, the trunk exoskeleton middle platform and the trunk exoskeleton upper platform to achieve the large-scale bending movement required for the rehabilitation process. When the parallel trunk rehabilitation robot starts rehabilitation exercise training, it can not only ensure the balance of movement and improve the robot's ability to accurately control the patient's trunk movement, but also provide the human body with a more stable and comfortable support during the treatment process, effectively avoiding secondary injuries to patients during the rehabilitation process, and meeting the safety requirements of medical rehabilitation applications; it has important practical significance for improving rehabilitation effects and improving the quality of life of patients.

[0097] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A parallel trunk rehabilitation robot with multiple support platforms, characterized in that: The robot comprises a trunk exoskeleton upper platform (3), a trunk exoskeleton middle platform (2) and a trunk exoskeleton base (1) which are sequentially worn on a human body (8) from top to bottom; The trunk exoskeleton upper platform is connected to the trunk exoskeleton middle platform and the trunk exoskeleton base via two first branches (4) and a second branch (5); The first branch comprises a first rotation pair (41), a first connecting rod (42), a first Hooke's joint (44), a second connecting rod (45) and a first ball joint (46) connected in sequence between the trunk exoskeleton base and the trunk exoskeleton upper platform, and a second rotation pair (43), a seventh connecting rod (47), a sixth rotation pair (48), a ninth connecting rod (49) and a seventh rotation pair (410) connected in sequence between the first connecting rod and the trunk exoskeleton middle platform (2); The second branch (5) comprises a third rotational pair (51), a third link (52), a fourth rotational pair (53), a fourth link (54) and a second Hooke's joint (55) connected in sequence between the trunk exoskeleton base and the trunk exoskeleton upper platform, and a second rotational pair (43), a seventh link (47), a sixth rotational pair (48), a ninth link (49) and a seventh rotational pair (410) connected in sequence between the third link and the trunk exoskeleton middle platform; or, The trunk exoskeleton upper platform is connected to the trunk exoskeleton middle platform and the trunk exoskeleton base via two third branches (6) and a fourth branch (7); The third branch (6) comprises a first rotation pair (41), a first connecting rod (42), a first Hooke's joint (44), a second connecting rod (45) and a first ball joint (46) which are sequentially connected between the trunk exoskeleton base and the trunk exoskeleton upper platform, and a first moving pair, a fifth rotation pair (58), an eighth connecting rod (59) and an eighth rotation pair (56) which are sequentially connected between the first connecting rod and the trunk exoskeleton middle platform and are formed by the slider (57) and the first connecting rod. The fourth branch (7) includes a third rotational pair (51), a third connecting rod (52), a fourth rotational pair (53), a fourth connecting rod (54) and a second Hooke's joint (55) connected in sequence between the trunk exoskeleton base and the trunk exoskeleton upper platform, and a second moving pair, a fifth rotational pair (58), an eighth connecting rod (59) and an eighth rotational pair (56) connected in sequence between the third connecting rod (52) and the trunk exoskeleton middle platform.

2. The parallel trunk rehabilitation robot with multiple support platforms according to claim 1, characterized in that: The upper platform of the trunk exoskeleton, the middle platform of the trunk exoskeleton and the base of the trunk exoskeleton are all enclosed by detachable hoops connected end to end to form an elliptical shape suitable for the human trunk.

3. The parallel trunk rehabilitation robot with multiple support platforms according to claim 2, characterized in that: The connection points of the second branch (5) and the fourth branch (7) with the upper platform of the torso exoskeleton are located on the short axis of the upper platform of the elliptical torso exoskeleton, the connection points of the second branch and the fourth branch with the middle platform of the torso exoskeleton are located on the short axis of the middle platform of the elliptical torso exoskeleton, and the connection points of the second branch and the fourth branch with the base of the torso exoskeleton are located on the short axis of the base of the elliptical torso exoskeleton; the connection points of the first branch (4) and the third branch (6) with the upper platform of the torso exoskeleton are located on the long axis of the upper platform of the elliptical torso exoskeleton, the connection points of the first branch (4) and the third branch (6) with the middle platform of the torso exoskeleton are located on the long axis of the middle platform of the elliptical torso exoskeleton, and the connection points of the first branch and the third branch with the base of the torso exoskeleton are located on the long axis of the base of the elliptical torso exoskeleton.

4. The parallel trunk rehabilitation robot with multiple support platforms according to claim 3, characterized in that: All the secondary rotation axes of the first branch and the first rotation axis axis of the first Hooke's joint (44) connecting the first connecting rod (42) are parallel to each other; all the secondary rotation axes of the second branch and the first rotation axis axis of the second Hooke's joint (55) connecting the fourth connecting rod (54) are parallel to each other; all the secondary rotation axes of the third branch and the first rotation axis axis of the first Hooke's joint (44) connecting the first connecting rod (42) are parallel to each other; all the secondary rotation axes of the fourth branch and the first rotation axis axis of the second Hooke's joint (55) connecting the fourth connecting rod (54) are parallel to each other.

5. The parallel trunk rehabilitation robot with multiple support platforms according to claim 4, characterized in that: The first rotating pair (41), the third rotating pair (51) and the fourth rotating pair (53) are all driving pairs, which are driven by a driving motor through a gear reduction mechanism.

6. A parallel trunk rehabilitation robot with multiple support platforms, characterized in that: The robot comprises a trunk exoskeleton upper platform (3), a trunk exoskeleton middle platform (2) and a trunk exoskeleton base (1) which are sequentially worn on a human body from top to bottom; The trunk exoskeleton upper platform is connected to the trunk exoskeleton middle platform and the trunk exoskeleton base via a fifth branch (9) and four sixth branches (10); The fifth branch (9) comprises a third Hooke's joint (65), a fifth link (64), a tenth rotational pair (63), a sixth link (62) and a ninth rotational pair (61) which are sequentially connected between the upper platform of the trunk exoskeleton and the base of the trunk exoskeleton, and a second rotational pair (43), a seventh link (47), a sixth rotational pair (48), a ninth link (49) and a seventh rotational pair (410) which are sequentially connected between the sixth link and the middle platform of the trunk exoskeleton; The sixth branch (10) comprises a first ball joint (46), a second connecting rod (45), a first Hooke's joint (44), a first connecting rod (42) and a first rotational pair (41) connected in sequence between the upper platform of the trunk exoskeleton and the base of the trunk exoskeleton, and a second rotational pair (43), a seventh connecting rod (47), a sixth rotational pair (48), a ninth connecting rod (49) and a seventh rotational pair (410) connected in sequence between the first connecting rod and the middle platform of the trunk exoskeleton; or, The trunk exoskeleton upper platform is connected to the trunk exoskeleton middle platform and the trunk exoskeleton base via a seventh branch (11) and four eighth branches (12); The seventh branch (11) comprises a third Hooke's joint (65), a fifth connecting rod (64), a tenth rotational pair (63), a sixth connecting rod (62) and a ninth rotational pair (61) which are sequentially connected between the upper platform of the trunk exoskeleton and the base of the trunk exoskeleton, and a third translational pair, a fifth rotational pair (58), an eighth connecting rod (59) and an eighth rotational pair (56) which are sequentially connected between the sixth connecting rod and the middle platform of the trunk exoskeleton; The eighth branch (12) includes a first ball joint (46), a second connecting rod (45), a first Hooke's joint (44), a first connecting rod (42) and a first rotational pair (41) connected in sequence between the upper platform (1) of the trunk exoskeleton and the base (3) of the trunk exoskeleton, and a fourth translation pair, a fifth rotational pair (58), an eighth connecting rod (59) and an eighth rotational pair (56) connected in sequence between the first connecting rod and the middle platform of the trunk exoskeleton.

7. The parallel trunk rehabilitation robot with multiple support platforms according to claim 6, characterized in that: The upper platform of the trunk exoskeleton, the middle platform of the trunk exoskeleton and the base of the trunk exoskeleton are all enclosed by detachable hoops connected end to end to form an elliptical shape suitable for the human trunk.

8. The parallel trunk rehabilitation robot with multiple support platforms according to claim 7, characterized in that: The five branches (9) are respectively provided with a connection point with the three elliptical fixed platforms, and the distance between two adjacent connection points on each elliptical fixed platform is basically the same; the connection point with the fifth branch or the seventh branch (11) on each elliptical fixed platform is located on the short axis of the elliptical fixed platform, and the connection points on the three elliptical fixed platforms are arranged correspondingly up and down; the remaining four sixth branches (10) or four eighth branches (12) are also arranged in sequence along the circumference of the three elliptical fixed platforms, and the three connection points of each branch on the three elliptical fixed platforms are also arranged basically correspondingly up and down; the three elliptical fixed platforms are the upper platform of the trunk exoskeleton, the middle platform of the trunk exoskeleton and the base of the trunk exoskeleton.

9. The parallel trunk rehabilitation robot with multiple support platforms according to claim 8, characterized in that: All the rotational secondary axes in the fifth branch (9) and the rotational axis of the third Hooke's joint (65) connecting the fifth connecting rod (64) are parallel to each other; all the rotational secondary axes in the sixth branch (10) and the rotational axis of the first Hooke's joint (44) connecting the first connecting rod (42) are parallel to each other; all the rotational secondary axes in the seventh branch (11) are parallel to each other and perpendicular to the third movement secondary axis; all the rotational secondary axes in the eighth branch (12) and the rotational axis of the first Hooke's joint connecting the first connecting rod are parallel to each other and perpendicular to the fourth movement secondary axis.

10. The parallel trunk rehabilitation robot with multiple support platforms according to claim 9, characterized in that: In the fifth branch (9) and the seventh branch (11), the tenth rotating pair (63) and the ninth rotating pair (61) are both drive pairs, and the drive mechanisms are both gear reduction mechanisms driven by the third drive motor (83); The first rotating pairs (41) in the two sixth branches (10) closest to the fifth branch (9) are driving pairs, and the driving mechanisms are gear reduction mechanisms driven by the first driving motor (81); In the two eighth branches (12) closest to the seventh branch (11), the first rotating pair (41) is a driving pair, and the driving mechanisms are all gear reduction mechanisms driven by the first driving motor (81).

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