Upper limb rehabilitation exoskeleton robot

Abstract

The invention discloses an upper limb rehabilitation exoskeleton robot, which belongs to the technical field of medical instruments and comprises an equipment main body, a cantilever support is arranged on the equipment main body, a motor is mounted on the cantilever support, a speed reducer is in transmission connection with a motor shaft of the motor, and one end, far away from the motor, of the speed reducer is fixedly connected with a front arm through a thrust bearing. The thrust bearing buffers vibration generated by the motor shaft and the speed reducer. The thrust bearing is installed in the gap between the speed reducer and the front arm load, shaking caused by deviation of a motor shaft can be effectively prevented, the universal wheels are separated from the ground through the telescopic supporting legs, vibration of the steering shafts of the universal wheels is directly avoided, influences caused by vibration of the universal wheels are avoided, and the stability of the robot is improved. And meanwhile, superposition vibration of vibration caused by deviation of a motor shaft and vibration caused by a universal wheel steering shaft is also avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to an upper limb rehabilitation exoskeleton robot. Background Art

[0002] An upper limb rehabilitation exoskeleton is an exoskeleton device used for upper limb rehabilitation, often used in post-stroke rehabilitation. Common rehabilitation methods include instructor-assisted training and exoskeleton-assisted training. Instructor-assisted training involves medication intervention and patient-guided repetitive rehabilitation exercises. Exoskeletons can provide high-intensity assistance to patients performing customized rehabilitation exercises.

[0003] However, the existing upper limb rehabilitation exoskeleton robot has a single cantilever structure at the shoulder joint, and the motor shaft is directly connected to the load of the entire forearm through a reducer. The motor shaft and the reducer are relatively flexible mechanisms. When the load is large or there is a large acceleration, it is very easy to accumulate elastic potential energy, causing vibration.

[0004] Therefore, there is an urgent need to design an upper limb rehabilitation exoskeleton robot to solve the above-mentioned problem that the upper limb rehabilitation exoskeleton robot is prone to vibration when working. Summary of the Invention

[0005] In order to solve the technical problem mentioned in the background technology that the upper limb rehabilitation exoskeleton robot is prone to vibration during operation, an upper limb rehabilitation exoskeleton robot is provided to solve the above problem.

[0006] To achieve the above objectives, the specific technical solutions of the upper limb rehabilitation exoskeleton robot of the present invention are as follows: An upper limb rehabilitation exoskeleton robot includes a device body, a cantilever support is provided on the device body, a motor is installed on the cantilever support, a reducer is connected to the motor shaft of the motor, and the end of the reducer away from the motor is fixedly connected to the forearm through a thrust bearing. The thrust bearing cushions the vibration generated by the motor shaft and the reducer.

[0007] Furthermore, the thrust bearing includes a first metal ring and a second metal ring. The first metal ring is rotatably connected to a rotating shaft, and one end of the rotating shaft away from the first metal ring is rotatably connected to the second metal ring, so that the first metal ring rotates relative to the second metal ring.

[0008] Furthermore, the rotating shaft includes a retaining frame, on which a cylindrical roller is rotatably connected, and the first metal ring and the second metal ring are provided with sliding rails matching the cylindrical rollers, so that after the cantilever support and the forearm are fixedly connected, the first metal ring and the second metal ring clamp the cylindrical rollers on the retaining frame, thereby causing the first metal ring to rotate relative to the second metal ring.

[0009] Furthermore, the rotating shaft includes a retaining frame, on which a spherical roller is rotatably connected, and the first metal ring and the second metal ring are provided with sliding rails matching the spherical rollers, so that after the cantilever support and the forearm are fixedly connected, the first metal ring and the second metal ring clamp the spherical rollers on the retaining frame, thereby causing the first metal ring to rotate relative to the second metal ring.

[0010] Furthermore, a first annular groove is provided on the cantilever support, and a second annular groove is provided on the forearm. The first annular groove and the second annular groove are combined to form an accommodating cavity for accommodating the thrust bearing.

[0011] Furthermore, a damping ring is provided in the accommodating cavity, and the damping ring is located between the first annular groove and the thrust bearing, between the second annular groove and the thrust bearing, or a combination thereof.

[0012] Furthermore, the main body of the device includes a base, on which universal wheels and telescopic support legs are provided, and the telescopic support legs are used to separate the universal wheels from the ground.

[0013] Furthermore, the telescopic supporting leg includes a telescopic hydraulic cylinder, the hydraulic cylinder of the telescopic hydraulic cylinder is installed on the base, and when the telescopic hydraulic cylinder is opened, the piston end of the telescopic hydraulic cylinder moves toward the ground.

[0014] Furthermore, a support seat is installed on the piston end of the telescopic hydraulic cylinder.

[0015] The upper limb rehabilitation exoskeleton robot of the present invention has the following advantages: The present invention installs the thrust bearing in the gap between the reducer and the forearm load, which can effectively prevent the jitter caused by the deviation of the motor shaft. At the same time, the universal wheel is separated from the ground by the telescopic support legs, which directly avoids the vibration of the universal wheel steering shaft, avoids the influence of the universal wheel vibration, and also avoids the superimposed vibration of the vibration caused by the deviation of the motor shaft and the vibration caused by the universal wheel steering shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of the upper limb rehabilitation exoskeleton robot of the present invention; Figure 2 This is a partial exploded structural diagram of the upper limb rehabilitation exoskeleton robot of the present invention; Figure 3 This is a structural diagram of a thrust bearing according to the present invention; Figure 4 This is a schematic diagram of the base structure of the present invention; Figure 5 This is a schematic diagram of the bottom structure of the upper limb rehabilitation exoskeleton robot of the present invention.

[0017] Explanation of the marks in the figure: 1. Equipment body; 101. Base; 102. Universal wheel; 103. Telescopic support leg; 1031. Telescopic hydraulic cylinder; 1032. Piston end; 1033. Support seat; 2. Cantilever support; 3. Thrust bearing; 301. First metal ring; 302. Second metal ring; 303. Rotating shaft; 100. Cage; 200. Cylindrical roller; 4. Forearm; 401. Second ring groove. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] Those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is intended to be within the scope of the present invention and to form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0020] Please refer to the attached Figure 1 To the attached Figure 5 The present invention describes an upper limb rehabilitation exoskeleton robot.

[0021] The existing upper limb rehabilitation exoskeleton robot has a single cantilever structure of the shoulder joint. The motor shaft is directly connected to the load of the entire forearm 4 through a reducer. The motor shaft and the reducer are relatively flexible mechanisms. When the load is large or there is a large acceleration, it is very easy to accumulate elastic potential energy, resulting in vibration.

[0022] Therefore, the present invention provides an upper limb rehabilitation exoskeleton robot, such as Figure 1 and Figure 2As shown, it includes a device body 1, a cantilever support 2 is provided on the device body 1, a motor is installed on the cantilever support 2, a reducer is connected to the motor shaft of the motor, and the end of the reducer away from the motor is fixedly connected to the forearm 4 through a thrust bearing 3. The thrust bearing 3 buffers the vibration generated by the motor shaft and the reducer. Specifically, the existing upper limb rehabilitation exoskeleton robot has a motor shaft directly connected to the forearm 4 through a harmonic reducer, and there is no other supporting structure, that is, the load of the forearm 4 is all added to the motor shaft, and the motor shaft and the motor housing are not rigidly connected. The rotor and the stator of the harmonic reducer are also not rigidly connected. Because of the existence of torque, the forearm 4 can easily cause a small angle offset of the motor shaft during operation, which in turn causes vibration at the end of the actuator. Therefore, the thrust bearing 3 is installed in the gap between the reducer and the load of the forearm 4 to prevent shaking caused by the offset of the motor shaft.

[0023] As a preferred Figure 3 As shown, the thrust bearing 3 includes a first metal ring 301 and a second metal ring 302. The first metal ring 301 is rotatably connected to a rotating shaft 303. One end of the rotating shaft 303 away from the first metal ring 301 is rotatably connected to the second metal ring 302, so that the first metal ring 301 rotates relative to the second metal ring 302. Specifically, the first metal ring 301 and the second metal ring 302 are symmetrical structures relative to the rotating shaft 303. One end of the first metal ring 301 is tightly fixed to the cantilever support 2 or the forearm 4, and one end of the second metal ring 302 is tightly fixed to the forearm 4 or the cantilever support 2, so as not to interfere with the relative transmission between the motor shaft, the reducer and the forearm 4.

[0024] As a preferred Figure 3 As shown, the rotating shaft 303 includes a retaining frame 100, and a cylindrical roller 200 is rotatably connected to the retaining frame 100. The first metal ring 301 and the second metal ring 302 are provided with a slide rail matching the cylindrical roller 200, so that after the cantilever support 2 and the forearm 4 are fixedly connected, the first metal ring 301 and the second metal ring 302 clamp the cylindrical roller 200 on the retaining frame 100, and the cylindrical roller 200 moves in the slide rail, thereby causing the first metal ring 301 to rotate relative to the second metal ring 302. Specifically, the cylindrical roller 200 is in linear contact with the slide rail and has a large radial load capacity. It is suitable for bearing heavy loads and impact loads, as well as high-speed rotation, thereby meeting the anti-shake and transmission requirements between the forearm 4 and the cantilever support 2.

[0025] In another specific embodiment, the rotating shaft 303 includes a retaining frame 100, on which a spherical roller is rotatably connected, and a slide rail matching the spherical roller is provided on the first metal ring 301 and the second metal ring 302, so that after the cantilever support 2 and the forearm 4 are fixedly connected, the first metal ring 301 and the second metal ring 302 clamp the spherical roller on the retaining frame 100, and the spherical roller 200 moves in the slide rail, thereby causing the first metal ring 301 to rotate relative to the second metal ring 302. Specifically, the middle part of the spherical roller is bulged, and the contact area with the slide rail is larger and the contact method is more reasonable, so that the thrust bearing 3 can withstand a larger axial load and is suitable for heavy-load working occasions, thereby meeting the high load transfer requirements between the forearm 4 and the cantilever support 2.

[0026] like Figure 2 As shown, a first annular groove (not shown in the figure) is provided on the cantilever support 2, and a second annular groove 401 is provided on the forearm 4. The first annular groove and the second annular groove 401 are combined to form an accommodating cavity for accommodating the thrust bearing 3.

[0027] Preferably, a damping gasket is provided in the accommodating cavity, and the damping gasket is located between the first annular groove and the thrust bearing 3, between the second annular groove 401 and the thrust bearing 3, or any one of the combinations thereof. Specifically, since it is difficult for the reducer, the forearm 4 and the thrust bearing 3 to achieve 100% mechanical dimension matching, vibration will be generated. The vibration may cause impact and collision vibration between the mechanical structures, and further cause mechanical damage. Therefore, by providing a damping gasket, the energy of the vibration can be absorbed, and the impact and collision can be converted into extrusion without affecting normal operation.

[0028] As a preferred Figure 4 and Figure 5 As shown, the device body 1 includes a base 101, on which are provided universal wheels 102 and telescopic support legs 103. The telescopic support legs are used to separate the universal wheels 102 from the ground. Specifically, the universal wheels 102 have the ability to steer, but this also brings about vibration problems. The steering shaft of the universal wheels 102 cannot be locked, so in fact the entire device can be easily shaken by pushing it by hand. When the device is running, it will also shake due to the interaction force, that is, although the connection joints between the universal wheels 102 and the cantilever support 2 and the forearm 4 are physically isolated from each other, the jitters will be superimposed on each other, which will have a negative impact on stability. Therefore, telescopic support legs 103 are provided on the base 101. The telescopic support legs 103 separate the universal wheels 102 from the ground, directly avoiding the vibration of the steering shaft of the universal wheels 102, thereby avoiding the superposition of vibration sources.

[0029] In a specific embodiment, the telescopic support leg 103 selects a telescopic hydraulic cylinder 1031, such as Figure 4 and Figure 5 As shown, the hydraulic cylinder of the telescopic hydraulic cylinder 1031 is installed on the base 101. When the telescopic hydraulic cylinder 1031 is turned on, the piston end 1032 of the telescopic hydraulic cylinder 1031 moves toward the ground, so that the telescopic hydraulic cylinder 1031 supports the equipment body 1 and separates the universal wheel 102 from the ground. At the same time, the piston end 1032 of the telescopic hydraulic cylinder 1031 is installed with a support seat 1033, which ensures the stability of the equipment body 1.

[0030] The present invention installs the thrust bearing 3 in the gap between the reducer and the forearm 4, which can effectively prevent the vibration caused by the deviation of the motor shaft. At the same time, the universal wheel 102 is separated from the ground by the telescopic support leg 103, directly avoiding the vibration of the steering shaft of the universal wheel 102, avoiding the influence of the vibration of the universal wheel 102, and also avoiding the superimposed vibration of the vibration caused by the deviation of the motor shaft and the vibration caused by the steering shaft of the universal wheel 102.

[0031] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An upper limb rehabilitation exoskeleton robot, characterized in that: It includes an equipment main body, a cantilever support is provided on the equipment main body, a motor is installed on the cantilever support, a reducer is connected to the motor shaft of the motor, and the end of the reducer away from the motor is fixedly connected to the forearm through a thrust bearing. The thrust bearing buffers the vibration generated by the motor shaft and the reducer.

2. The upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The thrust bearing includes a first metal ring and a second metal ring. The first metal ring is rotatably connected to a rotating shaft. One end of the rotating shaft away from the first metal ring is rotatably connected to the second metal ring, so that the first metal ring rotates relative to the second metal ring.

3. The upper limb rehabilitation exoskeleton robot according to claim 2, characterized in that: The rotating shaft includes a retaining frame, on which a cylindrical roller is rotatably connected. The first metal ring and the second metal ring are provided with slide rails matching the cylindrical rollers, so that after the cantilever support and the forearm are fixedly connected, the first metal ring and the second metal ring clamp the cylindrical rollers on the retaining frame, thereby causing the first metal ring to rotate relative to the second metal ring.

4. The limb rehabilitation exoskeleton robot according to claim 3, characterized in that: The rotating shaft includes a retaining frame, on which a spherical roller is rotatably connected. The first metal ring and the second metal ring are provided with sliding rails matching the spherical rollers, so that after the cantilever support and the forearm are fixedly connected, the first metal ring and the second metal ring clamp the spherical rollers on the retaining frame, thereby causing the first metal ring to rotate relative to the second metal ring.

5. The upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: A first annular groove is provided on the cantilever support, and a second annular groove is provided on the forearm. The first annular groove and the second annular groove are combined to form an accommodating cavity for accommodating the thrust bearing.

6. The upper limb rehabilitation exoskeleton robot according to claim 5, characterized in that: A damping washer is provided in the accommodating cavity. The damping washer is located between the first annular groove and the thrust bearing, between the second annular groove and the thrust bearing, or a combination thereof.

7. The upper limb rehabilitation exoskeleton robot according to claim 1, characterized in that: The main body of the equipment includes a base, on which universal wheels and telescopic support legs are provided. The telescopic support legs are used to separate the universal wheels from the ground.

8. The upper limb rehabilitation exoskeleton robot according to claim 7, characterized in that: The telescopic supporting leg comprises a telescopic hydraulic cylinder, the hydraulic cylinder of the telescopic hydraulic cylinder is installed on the base, and when the telescopic hydraulic cylinder is opened, the piston end of the telescopic hydraulic cylinder moves toward the ground.

9. The upper limb rehabilitation exoskeleton robot according to claim 8, characterized in that: A support seat is installed on the piston end of the telescopic hydraulic cylinder.

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