Exoskeleton type human upper limb rehabilitation device

Abstract

The utility model discloses an exoskeleton type human body upper limb rehabilitation device, and relates to the technical field of rehabilitation medical machinery. Comprising a bearing rack, a control device is arranged on one side of the upper portion of the bearing rack, an exoskeleton type mechanical device is arranged on the top face of the bearing rack and comprises a shoulder movement mechanism, the shoulder movement mechanism is arranged on the top face of the bearing rack, and a large arm torsion mechanism is arranged at the end, away from the bearing rack, of the shoulder movement mechanism; an elbow bending and stretching mechanism is arranged at the end, away from the shoulder movement mechanism, of the big arm twisting mechanism, a forearm twisting mechanism is arranged at the end, away from the big arm twisting mechanism, of the elbow bending and stretching mechanism, and a wrist movement mechanism is arranged at the end, away from the elbow bending and stretching mechanism, of the forearm twisting mechanism. According to the upper limb rehabilitation training device, overall training can be carried out, targeted training can be carried out according to different rehabilitation trainings, the requirements of different patients can be met, the upper limb rehabilitation training device can better accord with the upper limbs of the patients, and more scientific and efficient rehabilitation training can be carried out.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation medical machinery, in particular to an exoskeleton type human upper limb rehabilitation device. Background Art

[0002] At present, stroke has become the second leading cause of death and the third leading cause of disability in the world. The risk of stroke in my country ranks first in the world. It is an acute cardiovascular and cerebrovascular disease that is very common in my country. The overall incidence and prevalence of stroke in my country are still on the rise, and the burden of stroke disease is still increasing. After suffering from a stroke, patients who survive after treatment will have sequelae of varying degrees, mainly manifested as hemiplegia, facial paralysis, visual impairment, language impairment and other symptoms that make patients lose their ability to move and live independently. More than two-thirds of patients have limb hemiplegia. Patients with hemiplegia sequelae will cause limb motor dysfunction, and they will be unable to take care of themselves to a large extent in life and cannot engage in various jobs, which will bring a great burden to the patient's family living standards and social production. Therefore, the treatment and rehabilitation of patients with hemiplegia after stroke is extremely important and urgent. The earlier the rehabilitation training of stroke patients is intervened, the greater the possibility of limb rehabilitation. Medical research results also prove this point: early, timely, scientific and effective rehabilitation exercise training for patients' affected limbs will help restore the control of the brain's central nervous system over limb motor function. Therefore, there is an urgent need for an exoskeleton-type upper limb rehabilitation device. An upper limb rehabilitation device with low cost, high rehabilitation efficiency, and multi-scenario application has important research value and practical significance. Utility Model Content

[0003] The purpose of the utility model is to provide an exoskeleton type human upper limb rehabilitation device to solve the problems existing in the above-mentioned prior art.

[0004] To achieve the above-mentioned purpose, the utility model provides the following scheme: The utility model provides an exoskeleton type human upper limb rehabilitation device, comprising a load-bearing frame, a control device is arranged on one side of the upper part of the load-bearing frame, an exoskeleton type mechanical device is arranged on the top surface of the load-bearing frame, the exoskeleton type mechanical device comprises a shoulder motion mechanism, the shoulder motion mechanism is arranged on the top surface of the load-bearing frame, a large arm twisting mechanism is arranged at one end of the shoulder motion mechanism away from the load-bearing frame, an elbow flexion and extension mechanism is arranged at one end of the large arm twisting mechanism away from the shoulder motion mechanism, a forearm twisting mechanism is arranged at one end of the elbow flexion and extension mechanism away from the large arm twisting mechanism, and a wrist motion mechanism is arranged at one end of the forearm twisting mechanism away from the elbow flexion and extension mechanism;

[0005] The shoulder movement mechanism comprises a shoulder adduction and abduction movement component, one end of which is detachably connected to the support frame via a shoulder longitudinal adjustment rod, and a shoulder flexion and extension movement component is provided at one end of the shoulder adduction and abduction movement component away from the support frame;

[0006] The upper arm twisting mechanism includes a shoulder upper arm connecting block, one end of the shoulder upper arm connecting block is rotatably connected to the shoulder flexion and extension movement component, and an upper arm fixing component is provided at one end of the shoulder upper arm connecting block away from the shoulder flexion and extension movement component, and one end of the upper arm fixing component away from the shoulder upper arm connecting block is detachably connected to the elbow flexion and extension mechanism.

[0007] Preferably, the supporting frame includes a movable base, the movable base is in an I-shape, and universal wheels are respectively installed at the corners of the bottom surface of the movable base. A rack adjusting rod is fixedly connected to the center of the top surface of the movable base, one side of the upper part of the rack adjusting rod is fixedly connected to the control device, and the top surface of the rack adjusting rod is detachably connected to the shoulder longitudinal adjustment rod.

[0008] Preferably, the shoulder adduction and abduction movement assembly includes a first shoulder steering link detachably connected to the shoulder longitudinal adjustment rod, the first shoulder steering link detachably connected to a first shoulder transverse adjustment rod, the first shoulder transverse adjustment rod is rotatably connected to a second shoulder transverse adjustment rod at one end away from the first shoulder steering link, the second shoulder transverse adjustment rod is detachably connected to a second shoulder steering link at one end away from the first shoulder transverse adjustment rod, the second shoulder steering link is detachably connected to a third shoulder transverse adjustment rod at one end away from the second shoulder transverse adjustment rod, and the third shoulder transverse adjustment rod is rotatably connected to the shoulder upper arm connecting block.

[0009] Preferably, the first shoulder lateral adjustment rod is fixedly connected to the first shoulder gear box, and a shoulder inward and outward movement pinion is rotatably connected in the first shoulder gear box. The shoulder inward and outward movement pinion is transmission-connected to a shoulder inward and outward movement motor, and the shoulder inward and outward movement motor is fixedly connected to the outer wall of the first shoulder gear box through a shoulder inward and outward movement motor bracket. The shoulder inward and outward movement pinion is meshed with a shoulder inward and outward movement gearwheel, and a first connecting shaft is fixedly connected to the center of the shoulder inward and outward movement gearwheel, and one end of the first connecting shaft extending out of the first shoulder gear box is fixedly connected to the second shoulder lateral adjustment rod.

[0010] Preferably, the shoulder flexion and extension movement assembly includes a second shoulder gear box rotatably connected to the shoulder upper arm connecting block, the second shoulder gear box is fixedly connected to the third shoulder lateral adjustment rod, a shoulder flexion and extension movement pinion is rotatably connected in the second shoulder gear box, the shoulder flexion and extension movement pinion is transmission-connected to a shoulder flexion and extension movement motor, the shoulder flexion and extension movement motor is fixedly connected to the third shoulder lateral adjustment rod via a shoulder flexion and extension movement motor bracket, the shoulder flexion and extension movement pinion is meshed with a shoulder flexion and extension movement gearwheel, a second connecting shaft is fixedly connected to the center of the shoulder flexion and extension movement gearwheel, and one end of the second connecting shaft extending out of the second shoulder gear box is fixedly connected to the shoulder upper arm connecting block.

[0011] Preferably, the boom fixing assembly includes a first boom connecting rod detachably connected to the shoulder boom connecting block, an end of the first boom connecting rod away from the shoulder boom connecting block is detachably connected to a second boom connecting rod, the second boom connecting rod is fixedly connected to a boom torsion and rotation block, the boom torsion and rotation block is detachably connected to a boom torsion and rotation ring, and an end of the second boom connecting rod away from the first boom connecting rod is detachably connected to the elbow flexion and extension mechanism.

[0012] Preferably, the elbow flexion and extension mechanism comprises a first elbow upper connecting rod detachably connected to the second large arm connecting rod, one end of the first elbow upper connecting rod away from the second large arm connecting rod is fixedly connected to an elbow gear box, an elbow motion large gear is rotatably connected in the elbow gear box, a third connecting shaft is fixedly connected to the center of the elbow motion large gear, one end of the third connecting shaft extending out of the elbow gear box is fixedly connected to the second elbow lower connecting rod, the elbow motion large gear is meshed with an elbow motion small gear, the elbow motion small gear is transmission-connected to an elbow motion motor, the elbow motion motor is fixedly connected to an elbow motion motor bracket, and the elbow motion motor bracket is detachably connected to the first elbow upper connecting rod;

[0013] One end of the upper arm torsion rotating ring away from the elbow gear box is fixedly connected to the second elbow upper connecting rod, and one end of the second elbow upper connecting rod away from the upper arm torsion rotating ring is rotatably connected to the first elbow lower connecting rod, and the first elbow lower connecting rod and the second elbow lower connecting rod are detachably connected to the forearm torsion mechanism.

[0014] Preferably, the forearm torsion mechanism includes a first forearm connecting rod, and both sides of one end of the first forearm connecting rod are respectively detachably connected to the first elbow lower connecting rod and the second elbow lower connecting rod, the other end of the first forearm connecting rod is detachably connected to the second forearm connecting rod, the second forearm connecting rod is detachably connected to the wrist movement mechanism, the first forearm connecting rod is detachably connected to a forearm torsion rotation block, and the forearm torsion rotation block is detachably connected to a forearm torsion rotation ring.

[0015] Preferably, the wrist movement mechanism includes a wrist rotating block detachably connected to the second forearm connecting rod, the wrist rotating block is detachably connected to a wrist rotating ring, the second forearm connecting rod is detachably connected to a wrist gear box, the wrist gear box is arranged below the wrist rotating ring, a wrist movement large gear is rotatably connected in the wrist gear box, the wrist movement large gear is meshed with a wrist movement small gear, the wrist movement small gear is transmission-connected to a wrist movement motor, the wrist movement motor is detachably connected to a wrist movement motor bracket, the wrist movement motor bracket is detachably connected to the wrist gear box, the center of the wrist movement large gear is fixedly connected to a fourth connecting shaft, and one end of the fourth connecting shaft extending out of the wrist gear box is fixedly connected to a hand bracket.

[0016] The utility model discloses the following technical effects:

[0017] The utility model can not only carry out overall training through the detachable installation method, but also be split according to different rehabilitation training needs to carry out targeted training, which can meet the needs of different patients, better make the equipment fit the patient's upper limbs, and carry out more scientific and efficient rehabilitation training.

[0018] Furthermore, the utility model can be applied in multiple scenarios, has low requirements for the place of use, has low cost of use, and can reduce the economic pressure on patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the front view structure of the utility model;

[0022] Figure 3This is a side view of the structure of the utility model;

[0023] Figure 4 This is a schematic diagram of the internal structure of the first shoulder gearbox of the utility model;

[0024] Figure 5 This is a schematic diagram of the internal structure of the second shoulder gearbox of the utility model;

[0025] Figure 6 This is a schematic diagram of the internal structure of the elbow gearbox of the utility model;

[0026] Figure 7 This is a schematic diagram of the internal structure of the wrist gear box of the utility model;

[0027] Figure 8 It is a partial structural schematic diagram of the elbow flexion and extension mechanism of the utility model;

[0028] Among them, 1. universal wheel; 2. mobile base; 3. adjustment bolt; 4. rack adjustment rod; 5. control box cover; 6. control box hinge; 7. RGB screen; 8. red indicator light; 9. emergency stop button; 10. green indicator light; 11. power button; 12. control box body; 13. bracket block; 14. shoulder longitudinal adjustment rod; 15. first shoulder steering link; 16. first shoulder lateral adjustment rod; 17. second shoulder lateral adjustment rod; 18. first shoulder gear box; 19. shoulder adduction and abduction movement motor; 20. shoulder adduction and abduction movement motor bracket; 21. second shoulder steering link; 22. fastening bolt; 23. second shoulder gear box; 24. shoulder flexion and extension movement motor; 25. shoulder flexion and extension movement motor bracket; 26. shoulder upper arm connection block; 27. third shoulder lateral adjustment rod; 28. first upper arm connection rod; 29. ​​second upper arm connection rod; 30 , upper arm twisting and rotating ring; 31, first elbow upper connecting rod; 32, second elbow upper connecting rod; 33, elbow motion motor; 34, elbow motion motor bracket; 35, elbow gear box; 36, first elbow lower connecting rod; 37, second elbow lower connecting rod; 38, first forearm connecting rod; 39, forearm twisting and rotating ring; 40, second forearm connecting rod; 41, wrist motion motor; 42, wrist gear box; 43, wrist rotating block; 44, Wrist rotation ring; 45, hand bracket; 46, wrist movement motor bracket; 48, shoulder adduction and abduction movement small gear; 49, shoulder adduction and abduction movement large gear; 50, shoulder flexion and extension movement large gear; 51, shoulder flexion and extension movement small gear; 52, elbow movement large gear; 53, elbow movement small gear; 54, wrist movement large gear; 55, wrist movement small gear; 56, upper arm twisting and rotating block; 57, forearm twisting and rotating block. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] Reference Figure 1-Figure 8 The utility model discloses an exoskeleton type human upper limb rehabilitation device, comprising a carrying frame, a control device is arranged on one side of the upper part of the carrying frame, an exoskeleton type mechanical device is arranged on the top surface of the carrying frame, the exoskeleton type mechanical device comprises a shoulder motion mechanism, the shoulder motion mechanism is arranged on the top surface of the carrying frame, a large arm twisting mechanism is arranged at one end of the shoulder motion mechanism away from the carrying frame, an elbow flexion and extension mechanism is arranged at one end of the large arm twisting mechanism away from the shoulder motion mechanism, a forearm twisting mechanism is arranged at one end of the elbow flexion and extension mechanism away from the large arm twisting mechanism, and a wrist motion mechanism is arranged at one end of the forearm twisting mechanism away from the elbow flexion and extension mechanism;

[0032] The shoulder movement mechanism includes a shoulder adduction and abduction movement component, one end of which is detachably connected to the bearing frame via a shoulder longitudinal adjustment rod 14, and a shoulder flexion and extension movement component is provided at one end of the shoulder adduction and abduction movement component away from the bearing frame;

[0033] The upper arm twisting mechanism includes a shoulder upper arm connecting block 26, one end of the shoulder upper arm connecting block 26 is rotatably connected to the shoulder flexion and extension movement component, and an upper arm fixing component is provided at one end of the shoulder upper arm connecting block 26 away from the shoulder flexion and extension movement component, and one end of the upper arm fixing component away from the shoulder upper arm connecting block 26 is detachably connected to the elbow flexion and extension mechanism.

[0034] The utility model can not only carry out overall training through the detachable installation method, but also be split according to different rehabilitation training needs to carry out targeted training, which can meet the needs of different patients, better make the equipment fit the patient's upper limbs, and carry out more scientific and efficient rehabilitation training.

[0035] Furthermore, the utility model can be applied in multiple scenarios, has low requirements for the place of use, has low cost of use, and can reduce the economic pressure on patients.

[0036] A further optimized solution is that the supporting frame includes a mobile base 2, which is in an I-shape, and universal wheels 1 are respectively installed at the corners of the bottom surface of the mobile base 2. The center of the top surface of the mobile base 2 is fixedly connected to a frame adjusting rod 4, one side of the upper part of the frame adjusting rod 4 is fixedly connected to the control device, and the top surface of the frame adjusting rod 4 is detachably connected to the shoulder longitudinal adjusting rod 14.

[0037] By installing the universal wheel 1 on the mobile base 2, the convenience of moving the entire device can be met. At the same time, the universal wheel 1 has a self-locking structure to ensure the safety of the patient when using the device.

[0038] The frame adjustment rod 4 has the function of adjusting the height, and can effectively adjust the height according to different patients. The frame adjustment rod 4 includes a fixed rod, which is fixedly connected to the movable base 2, and a movable rod is sleeved on the fixed rod. The fixed rod is slidably connected in the movable rod, and an adjusting bolt 3 is threadedly connected on the side wall of one end of the movable rod facing the movable base 2. The adjusting bolt 3 is detachably connected with a through hole, and the through hole is opened on the fixed rod. By rotating the adjusting bolt 3, the end of the adjusting bolt 3 can be extended into the through hole. The fixed rod is marked with scales, and the height can be adjusted through the scales. The movable rod can be stably maintained at a set height by adjusting the bolt 3. The movable rod can adjust the height of the shoulder movement mechanism to meet the use of patients of different heights.

[0039] A further optimized solution is that the control device includes a control box body 12 fixedly connected to the rack adjusting rod 4, the control box body 12 is rotatably connected to the control box cover 5 through a plurality of control box hinges 6, an RGB screen 7 is embedded on the control box cover 5, a controller is arranged in the control box body 12, and the controller is electrically connected to the RGB screen 7.

[0040] A power button 11, a green indicator light 10, an emergency stop button 9, and a red indicator light 8 are embedded on the control box cover 5. The power button 11, the green indicator light 10, the emergency stop button 9, and the red indicator light 8 are electrically connected to the controller. The controller adopts an STM32 single-chip microcomputer. The RGB screen 7 is located on the left side of the control box cover 5; the power button 11 is located on the right side of the RGB screen 7, and the green indicator light is located on the right side of the power button 11; the emergency stop button 9 is located on the right side of the RGB screen 7 and on the lower side of the power button 11; the red indicator light 8 is located on the right side of the RGB screen 7 and on the lower side of the green indicator light 10.

[0041] A further optimized solution is that the shoulder adduction and abduction movement assembly includes a first shoulder steering link 15 detachably connected to the shoulder longitudinal adjustment rod 14, the first shoulder steering link 15 is detachably connected to a first shoulder lateral adjustment rod 16, the first shoulder lateral adjustment rod 16 is rotatably connected to a second shoulder lateral adjustment rod 17 at one end away from the first shoulder steering link 15, the second shoulder lateral adjustment rod 17 is detachably connected to a second shoulder steering link 21 at one end away from the first shoulder lateral adjustment rod 16, the second shoulder steering link 21 is detachably connected to a third shoulder lateral adjustment rod 27 at one end away from the second shoulder lateral adjustment rod 17, and the third shoulder lateral adjustment rod 27 is rotatably connected to the shoulder upper arm connection block 26. Dynamic connection, the first shoulder lateral adjustment rod 16 is fixedly connected to the first shoulder gear box 18, and the shoulder inward and outward movement pinion 48 is rotatably connected in the first shoulder gear box 18. The shoulder inward and outward movement pinion 48 is transmission-connected to the shoulder inward and outward movement motor 19. The shoulder inward and outward movement motor 19 is fixedly connected to the outer wall of the first shoulder gear box 18 through the shoulder inward and outward movement motor bracket 20. The shoulder inward and outward movement pinion 48 is meshed with the shoulder inward and outward movement large gear 49. The center of the shoulder inward and outward movement large gear 49 is fixedly connected to the first connecting shaft. The first connecting shaft extends out of one end of the first shoulder gear box 18 and is fixedly connected to the second shoulder lateral adjustment rod 17.

[0042] The first shoulder steering link 15 is L-shaped, and one end of the first shoulder steering link 15 is detachably connected to the shoulder longitudinal adjustment rod 14 through an adjusting bolt 3. The shoulder longitudinal adjustment rod 14 is detachably connected with a positioning groove, and the positioning groove is arranged on the top surface of the movable rod. The positioning groove is detachably connected with a bracket block 13. The shoulder longitudinal adjustment rod 14 and the bracket block 13 are installed in the positioning groove by a plurality of adjusting bolts 3; the adjusting bolts 3 are used to facilitate installation and disassembly.

[0043] The other end of the first shoulder steering link 15 is threadedly connected with a fastening bolt 22, and the first shoulder lateral adjustment rod 16 extends into the first shoulder steering link 15 and is slidably connected to the first shoulder steering link 15, and abuts against the first shoulder lateral adjustment rod 16 through the fastening bolt 22, which is used to adjust the length of the first shoulder lateral adjustment rod 16 and facilitate the installation and disassembly of the first shoulder lateral adjustment rod 16 and the first shoulder steering link 15.

[0044] The first shoulder lateral adjustment rod 16 has an adjustment length ranging from 0 to 50 mm.

[0045] The shoulder adduction and abduction movement motor 19 drives the shoulder adduction and abduction movement small gear 48 to rotate, the shoulder adduction and abduction movement small gear 48 drives the shoulder adduction and abduction movement large gear 49 to rotate, and the shoulder adduction and abduction movement large gear 49 drives the second shoulder lateral adjustment rod 17 to rotate through the first connecting shaft.

[0046] The gear ratio of the shoulder adduction and abduction movement large gear 49 to the shoulder adduction and abduction movement small gear 48 is 5:1.

[0047] One end of the second shoulder lateral adjustment rod 17 extends into one end of the second shoulder steering link 21 and is slidably connected to the second shoulder steering link 21, and the other end of the second shoulder steering link 21 is slidably connected to the third shoulder lateral adjustment rod 27. The two ends of the second shoulder steering link 21 respectively control the length of the second shoulder lateral adjustment rod 17 and the second shoulder steering link 21 through fastening bolts 22, so that the second shoulder lateral adjustment rod 17 and the second shoulder steering link 21 can be easily installed and disassembled.

[0048] The adjustment length range of the second shoulder lateral adjustment rod 17 and the second shoulder steering link 21 is 0-50 mm.

[0049] A further optimized solution is that the shoulder flexion and extension movement assembly includes a second shoulder gear box 23 rotatably connected to the shoulder upper arm connecting block 26, the second shoulder gear box 23 is fixedly connected to the third shoulder lateral adjustment rod 27, a shoulder flexion and extension movement pinion 51 is rotatably connected in the second shoulder gear box 23, the shoulder flexion and extension movement pinion 51 is transmission-connected to the shoulder flexion and extension movement motor 24, the shoulder flexion and extension movement motor 24 is fixedly connected to the third shoulder lateral adjustment rod 27 through the shoulder flexion and extension movement motor bracket 25, the shoulder flexion and extension movement pinion 51 is meshed with the shoulder flexion and extension movement gearwheel 50, the center of the shoulder flexion and extension movement gearwheel 50 is fixedly connected to a second connecting shaft, and one end of the second connecting shaft extends out of the second shoulder gear box 23 and is fixedly connected to the shoulder upper arm connecting block 26.

[0050] The shoulder flexion and extension movement motor 24 drives the shoulder flexion and extension movement pinion 51 to rotate, the shoulder flexion and extension movement pinion 51 drives the shoulder flexion and extension movement gear 50 to rotate, and the shoulder flexion and extension movement gear 50 drives the shoulder upper arm connecting block 26 to rotate through the second connecting shaft.

[0051] The gear ratio of the shoulder flexion and extension exercise large gear 50 to the shoulder flexion and extension exercise small gear 51 is 5:1.

[0052] The second shoulder lateral adjustment rod 17 is connected to the second shoulder steering link 21 through a plurality of fastening bolts 22 and can be adjusted within a range of 0-50 mm.

[0053] The second shoulder steering link 21 is connected to the third shoulder lateral adjustment rod through a plurality of fastening bolts 22 and can be adjusted within a range of 0-50 mm.

[0054] The shoulder motion mechanism can meet the different distances between the shoulder rotation joints of different patients, making it easier for patients to complete shoulder flexion, extension, adduction and abduction movements during use.

[0055] A further optimized solution is that the boom fixing assembly includes a first boom connecting rod 28 detachably connected to the shoulder boom connecting block 26, an end of the first boom connecting rod 28 away from the shoulder boom connecting block 26 is detachably connected to the second boom connecting rod 29, the second boom connecting rod 29 is fixedly connected to the boom torsion rotation block 56, the boom torsion rotation block 56 is detachably connected to the boom torsion rotation ring 30 via a plurality of fastening bolts 22, and the end of the second boom connecting rod 29 away from the first boom connecting rod 28 is detachably connected to the elbow flexion and extension mechanism via a plurality of fastening bolts 22.

[0056] The first boom connecting rod 28 and the second boom connecting rod 29 are connected by a plurality of fastening bolts 22 and can be adjusted within a range of 0-50 mm.

[0057] A further optimized solution is provided, wherein the elbow flexion and extension mechanism comprises a first elbow upper connecting rod 31 detachably connected to the second upper arm connecting rod 29, an end of the first elbow upper connecting rod 31 away from the second upper arm connecting rod 29 is fixedly connected to an elbow gear box 35, an elbow movement gearwheel 52 is rotatably connected inside the elbow gear box 35, a third connecting shaft is fixedly connected to the center of the elbow movement gearwheel 52, an end of the third connecting shaft extending out of the elbow gear box 35 is fixedly connected to the second elbow lower connecting rod 37, the elbow movement gearwheel 52 is meshed with an elbow movement pinion 53, the elbow movement pinion 53 is transmission-connected to an elbow movement motor 33, the elbow movement motor 33 is fixedly connected to an elbow movement motor bracket 34, and the elbow movement motor bracket 34 is detachably connected to the first elbow upper connecting rod 31 by a plurality of fastening bolts 22.

[0058] One end of the boom torsion rotating ring 30 away from the elbow gear box 35 is fixedly connected to the second elbow upper connecting rod 32, and one end of the second elbow upper connecting rod 32 away from the boom torsion rotating ring 30 is rotatably connected to the first elbow lower connecting rod 36. The first elbow lower connecting rod 36 and the second elbow lower connecting rod 37 are detachably connected to the forearm torsion mechanism through a plurality of fastening bolts 22.

[0059] The elbow movement motor 33 drives the elbow movement pinion 53 to rotate, the elbow movement pinion 53 drives the elbow movement gearwheel 52 to rotate, and the elbow movement gearwheel 52 drives the second elbow lower connecting rod 37 to rotate through the third connecting shaft.

[0060] A further optimized solution is provided, wherein the forearm torsion mechanism comprises a first forearm connecting rod 38, and both sides of one end of the first forearm connecting rod 38 are detachably connected to the first elbow lower connecting rod 36 and the second elbow lower connecting rod 37 by a plurality of fastening bolts 22 respectively, and the other end of the first forearm connecting rod 38 is detachably connected to the second forearm connecting rod 40 by a plurality of fastening bolts 22, and the second forearm connecting rod 40 is detachably connected to the wrist movement mechanism by a plurality of fastening bolts 22, and the first forearm connecting rod 38 is detachably connected to a forearm torsion rotation block 57 by a plurality of fastening bolts 22, and the forearm torsion rotation block 57 is detachably connected to a forearm torsion rotation ring 39 by a plurality of fastening bolts 22.

[0061] A further optimized solution is provided, wherein the wrist movement mechanism includes a wrist rotating block 43 detachably connected to the second forearm connecting rod 40, the wrist rotating block 43 is detachably connected to the wrist rotating ring 44 by a plurality of fastening bolts 22, the second forearm connecting rod 40 is detachably connected to the wrist gear box 42 by a plurality of fastening bolts 22, the wrist gear box 42 is arranged below the wrist rotating ring 44, a wrist movement large gear 54 is rotatably connected in the wrist gear box 42, the wrist movement large gear 54 is meshed with a wrist movement small gear 55, the wrist movement small gear 55 is transmission-connected to the wrist movement motor 41, the wrist movement motor 41 is detachably connected to the wrist movement motor bracket 46 by a plurality of fastening bolts 22, the wrist movement motor bracket 46 is detachably connected to the wrist gear box 42 by a plurality of fastening bolts 22, the center of the wrist movement large gear 54 is fixedly connected to the fourth connecting shaft, and one end of the fourth connecting shaft extending out of the wrist gear box 42 is fixedly connected to the hand bracket 45.

[0062] The wrist motion motor 41 drives the wrist motion small gear 55 to rotate, the wrist motion small gear 55 drives the wrist motion large gear 54 to rotate, and the wrist motion large gear 54 drives the hand support 45 to rotate through the fourth connecting shaft, which can provide the wrist with 45° rotation left and right.

[0063] The hand support 45 can satisfy the swinging motion of the hand and can also support the hand, giving the user a better using experience.

[0064] Working process: The height of the shoulder movement mechanism is adjusted by adjusting the height of the frame adjustment rod 4 to meet the needs of patients with different heights.

[0065] The shoulder movement mechanism is fixed on the supporting frame, and can be adjusted in left-right length and front-back length through the first shoulder lateral adjustment rod 16, the second shoulder lateral adjustment rod 17, and the third shoulder lateral adjustment rod 27 to meet the different distances between the shoulder rotation joints of different patients, making it convenient for patients to complete shoulder flexion, extension, adduction and abduction movements during use.

[0066] Reference Figure 4The shoulder adduction and abduction movement motor 19 drives the shoulder adduction and abduction movement pinion 48 to rotate, completing the shoulder adduction and abduction movement.

[0067] Reference Figure 5 The shoulder flexion and extension movement motor 24 rotates to drive the shoulder flexion and extension movement pinion 51 to rotate, completing the shoulder flexion and extension movement.

[0068] The upper arm is fixed in the upper arm twisting and rotating ring 30, and the upper arm is driven to perform twisting motion while other movements are performed.

[0069] When the elbow moves, the elbow movement motor 33 drives the elbow movement gear 52 to rotate, thereby completing the elbow flexion and extension movement.

[0070] Reference Figure 7 When the wrist moves, the forearm is fixed in the forearm twisting and rotating ring 39. According to the movement of the wrist, the forearm performs a natural twisting movement. When the wrist moves, the wrist is fixed in the wrist rotating ring 44, and the hand is fixed on the hand support 45. The wrist movement motor 41 drives the wrist movement gear 54 to rotate, thereby driving the wrist to flex and extend.

[0071] When patients are undergoing rehabilitation training, they can adjust the height and length of the shoulder movement mechanism, the first upper arm connecting rod 28, the second upper arm connecting rod 29, the first forearm connecting rod 38, and the second forearm connecting rod 40 according to their own height and upper limb length to meet different joint coupling length requirements and match their own training.

[0072] The entire exoskeleton upper limb rehabilitation device of the utility model uses aluminum as the main material, which reduces the weight of the entire device while meeting the strength requirements.

[0073] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0074] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. An exoskeleton-type upper limb rehabilitation device, characterized in that: It comprises a carrying frame, a control device is arranged on one side of the upper part of the carrying frame, an exoskeleton type mechanical device is arranged on the top surface of the carrying frame, the exoskeleton type mechanical device comprises a shoulder motion mechanism, the shoulder motion mechanism is arranged on the top surface of the carrying frame, a large arm twisting mechanism is arranged at one end of the shoulder motion mechanism away from the carrying frame, an elbow flexion and extension mechanism is arranged at one end of the large arm twisting mechanism away from the shoulder motion mechanism, a forearm twisting mechanism is arranged at one end of the elbow flexion and extension mechanism away from the large arm twisting mechanism, and a wrist motion mechanism is arranged at one end of the forearm twisting mechanism away from the elbow flexion and extension mechanism; The shoulder movement mechanism comprises a shoulder adduction and abduction movement component, one end of the shoulder adduction and abduction movement component is detachably connected to the support frame via a shoulder longitudinal adjustment rod (14), and a shoulder flexion and extension movement component is arranged at one end of the shoulder adduction and abduction movement component away from the support frame; The upper arm twisting mechanism comprises a shoulder upper arm connecting block (26), one end of the shoulder upper arm connecting block (26) is rotatably connected to the shoulder flexion and extension movement component, and an upper arm fixing component is arranged at one end of the shoulder upper arm connecting block (26) away from the shoulder flexion and extension movement component, and one end of the upper arm fixing component away from the shoulder upper arm connecting block (26) is detachably connected to the elbow flexion and extension mechanism.

2. The exoskeleton type upper limb rehabilitation device according to claim 1, characterized in that: The bearing frame comprises a movable base (2), the movable base (2) is in an I-shape, universal wheels (1) are respectively installed at the corners of the bottom surface of the movable base (2), a frame adjustment rod (4) is fixedly connected to the center of the top surface of the movable base (2), one side of the upper part of the frame adjustment rod (4) is fixedly connected to the control device, and the top surface of the frame adjustment rod (4) is detachably connected to the shoulder longitudinal adjustment rod (14).

3. The exoskeleton type human upper limb rehabilitation device according to claim 1, characterized in that: The shoulder adduction and abduction movement assembly comprises a first shoulder steering link (15) detachably connected to the shoulder longitudinal adjustment rod (14); the first shoulder steering link (15) is detachably connected to a first shoulder lateral adjustment rod (16); an end of the first shoulder lateral adjustment rod (16) away from the first shoulder steering link (15) is rotatably connected to a second shoulder lateral adjustment rod (17); an end of the second shoulder lateral adjustment rod (17) away from the first shoulder lateral adjustment rod (16) is detachably connected to a second shoulder steering link (21); an end of the second shoulder steering link (21) away from the second shoulder lateral adjustment rod (17) is detachably connected to a third shoulder lateral adjustment rod (27); and the third shoulder lateral adjustment rod (27) is rotatably connected to the shoulder upper arm connection block (26).

4. The exoskeleton-type upper limb rehabilitation device according to claim 3, characterized in that: The first shoulder lateral adjustment rod (16) is fixedly connected to a first shoulder gear box (18), a shoulder inward and outward movement pinion (48) is rotatably connected inside the first shoulder gear box (18), the shoulder inward and outward movement pinion (48) is transmission-connected to a shoulder inward and outward movement motor (19), the shoulder inward and outward movement motor (19) is fixedly connected to the outer wall of the first shoulder gear box (18) via a shoulder inward and outward movement motor bracket (20), the shoulder inward and outward movement pinion (48) is meshed with a shoulder inward and outward movement large gear (49), the center of the shoulder inward and outward movement large gear (49) is fixedly connected to a first connecting shaft, and one end of the first connecting shaft extending out of the first shoulder gear box (18) is fixedly connected to the second shoulder lateral adjustment rod (17).

5. The exoskeleton type upper limb rehabilitation device according to claim 4, characterized in that: The shoulder flexion and extension movement assembly comprises a second shoulder gear box (23) rotatably connected to the shoulder upper arm connection block (26); the second shoulder gear box (23) is fixedly connected to the third shoulder lateral adjustment rod (27); a shoulder flexion and extension movement pinion (51) is rotatably connected inside the second shoulder gear box (23); the shoulder flexion and extension movement pinion (51) is transmission-connected to a shoulder flexion and extension movement motor (24); the shoulder flexion and extension movement motor (24) is fixedly connected to the third shoulder lateral adjustment rod (27) via a shoulder flexion and extension movement motor bracket (25); the shoulder flexion and extension movement pinion (51) is meshed with a shoulder flexion and extension movement gear (50); a second connecting shaft is fixedly connected to the center of the shoulder flexion and extension movement gear (50); one end of the second connecting shaft extending out of the second shoulder gear box (23) is fixedly connected to the shoulder upper arm connection block (26).

6. The exoskeleton type upper limb rehabilitation device according to claim 1, characterized in that: The upper arm fixing assembly comprises a first upper arm connecting rod (28) detachably connected to the shoulder upper arm connecting block (26); an end of the first upper arm connecting rod (28) away from the shoulder upper arm connecting block (26) is detachably connected to a second upper arm connecting rod (29); a upper arm twisting and rotating block (56) is fixedly connected to the second upper arm connecting rod (29); a upper arm twisting and rotating ring (30) is detachably connected to the upper arm twisting and rotating block (56); and an end of the second upper arm connecting rod (29) away from the first upper arm connecting rod (28) is detachably connected to the elbow flexion and extension mechanism.

7. The exoskeleton-type upper limb rehabilitation device according to claim 6, characterized in that: The elbow flexion and extension mechanism comprises a first elbow upper connecting rod (31) detachably connected to the second arm connecting rod (29); one end of the first elbow upper connecting rod (31) away from the second arm connecting rod (29) is fixedly connected to an elbow gear box (35); an elbow motion gear (52) is rotatably connected inside the elbow gear box (35); a third connecting shaft is fixedly connected to the center of the elbow motion gear (52); one end of the third connecting shaft extending out of the elbow gear box (35) is fixedly connected to a second elbow lower connecting rod (37); the elbow motion gear (52) is meshed with an elbow motion pinion (53); the elbow motion pinion (53) is transmission-connected to an elbow motion motor (33); the elbow motion motor (33) is fixedly connected to an elbow motion motor bracket (34); and the elbow motion motor bracket (34) is detachably connected to the first elbow upper connecting rod (31); One end of the upper arm torsion rotating ring (30) away from the elbow gear box (35) is fixedly connected to the second elbow upper connecting rod (32), and one end of the second elbow upper connecting rod (32) away from the upper arm torsion rotating ring (30) is rotatably connected to the first elbow lower connecting rod (36), and the first elbow lower connecting rod (36) and the second elbow lower connecting rod (37) are detachably connected to the forearm torsion mechanism.

8. The exoskeleton-type upper limb rehabilitation device according to claim 7, characterized in that: The forearm twisting mechanism comprises a first forearm connecting rod (38), the two sides of one end of the first forearm connecting rod (38) are respectively detachably connected to the first elbow lower connecting rod (36) and the second elbow lower connecting rod (37), the other end of the first forearm connecting rod (38) is detachably connected to the second forearm connecting rod (40), the second forearm connecting rod (40) is detachably connected to the wrist movement mechanism, the first forearm connecting rod (38) is detachably connected to a forearm twisting rotating block (57), and the forearm twisting rotating block (57) is detachably connected to a forearm twisting rotating ring (39).

9. The exoskeleton-type upper limb rehabilitation device according to claim 8, characterized in that: The wrist movement mechanism comprises a wrist rotating block (43) detachably connected to the second forearm connecting rod (40), the wrist rotating block (43) being detachably connected to a wrist rotating ring (44), the second forearm connecting rod (40) being detachably connected to a wrist gear box (42), the wrist gear box (42) being arranged below the wrist rotating ring (44), a wrist movement large gear (54) being rotatably connected in the wrist gear box (42), the wrist movement large gear (54) being meshed with A wrist movement pinion (55) is provided, the wrist movement pinion (55) is transmission-connected to a wrist movement motor (41), the wrist movement motor (41) is detachably connected to a wrist movement motor bracket (46), the wrist movement motor bracket (46) is detachably connected to the wrist gear box (42), the center of the wrist movement gear (54) is fixedly connected to a fourth connecting shaft, and one end of the fourth connecting shaft extending out of the wrist gear box (42) is fixedly connected to a hand bracket (45).

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