Bandage rehabilitation mechanical arm exoskeleton robot

Abstract

The utility model discloses a bandage rehabilitation mechanical arm exoskeleton robot, which designs a whole upper limb arm exoskeleton according to the rehabilitation training requirements of patients with different upper limbs and the movement modes and characteristics of the upper limbs of a human body and by referring to the posture of rehabilitation movement of the upper limbs. Comprising a hand exoskeleton, a wrist exoskeleton, an elbow exoskeleton and a shoulder exoskeleton which are connected in sequence. All motors on the exoskeleton drive joints to move through gear transmission, worm and gear transmission and the like and are installed on corresponding assemblies nearby. The exoskeleton can be attached to the upper limbs of a user after being worn on the human body, and various basic rehabilitation training action requirements can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a strapped rehabilitation robotic arm exoskeleton robot. Background Art

[0002] Since the human hand often frequently contacts various tools under the condition of lack of protection to complete some fine and high-intensity operations, the arm is easily injured. In recent years, researchers at home and abroad have also developed many robots for arm function rehabilitation.

[0003] At present, the rehabilitation treatment of a certain joint (shoulder joint, elbow joint, wrist joint, finger joint) of the arm is carried out by using an exoskeleton robot with the function of this joint for rehabilitation training. However, for patients with movement disorders in some joints of the arm at the same time, single-joint training cannot achieve a good training effect. Therefore, there is an urgent need for a new type of auxiliary rehabilitation treatment device that can realize the movement of all upper limb joints (including shoulder joint, elbow joint, wrist joint, finger joint). Content of the Utility Model

[0004] The purpose of the utility model is to provide a strapped rehabilitation robotic arm exoskeleton robot, which comprises a hand exoskeleton, a wrist exoskeleton, an elbow exoskeleton and a shoulder exoskeleton connected in sequence.

[0005] The hand exoskeleton comprises a four-finger module, a thumb module, a palm module, an electric screw rod, a nut, a four-finger fixing connecting piece and a thumb connecting piece.

[0006] An electric screw rod is installed on the back of the hand of the palm module, a nut is sleeved on the screw rod of the electric screw rod, and the nut is fixedly connected with the four-finger fixing connecting piece.

[0007] The four-finger fixing connecting piece is connected with a thumb connecting piece.

[0008] The four-finger module and the thumb module are connected to the front end of the palm module, and at the same time, they are also respectively connected with the four-finger fixing connecting piece and the thumb connecting piece.

[0009] The wrist exoskeleton comprises a small gear module, a large gear module, a motor I connected to the small gear module, a fixing plate I and a connecting piece I.

[0010] The rear end of the palm module is installed on the plate surface of the fixing plate I.

[0011] The small gear module, the large gear module and the connecting piece I are fixed on the other side plate surface of the fixing plate I.

[0012] The small gear module is meshed with the large gear module.

[0013] The connecting piece Ⅰ is located in the inner hole of the large gear module. Through holes Ⅰ for the palm to pass through are provided on the connecting piece Ⅰ and the fixing plate Ⅰ.

[0014] The elbow exoskeleton includes a forearm module, an upper arm module Ⅰ, a long connecting rod, a short connecting rod, a reducer Ⅰ, a motor Ⅱ, and a connecting piece Ⅱ.

[0015] One end of the forearm module is fixed inside the connecting piece Ⅱ, and the other end is connected to the upper arm module Ⅰ.

[0016] The connecting piece Ⅱ is nested and connected with the connecting piece Ⅰ.

[0017] One end of the upper arm module Ⅰ away from the forearm module is connected with a reducer Ⅰ, and a motor Ⅱ and a short connecting rod are connected to the reducer Ⅰ; one end of the long connecting rod is connected to the short connecting rod, and the other end is connected to the forearm module.

[0018] The shoulder exoskeleton includes a worm reducer, an upper arm module Ⅱ, a reducer Ⅱ, and a motor Ⅲ.

[0019] The upper arm module Ⅱ is integrally L-shaped, with one end connected to the upper arm module Ⅰ and the other end connected to the worm reducer.

[0020] A reducer Ⅱ is provided on the upper arm module Ⅱ, and a motor Ⅲ is connected to the reducer Ⅱ.

[0021] The exoskeleton robot is provided with straps.

[0022] Further, the four-finger module is connected to the palm module through a finger-palm connecting piece, and the finger-palm connecting piece is located on the side of the palm module facing the palm.

[0023] The thumb module is connected to the palm module through a pin shaft.

[0024] Further, the thumb module includes a thumb proximal phalanx and a thumb distal phalanx connected in sequence; the four-finger module includes a proximal phalanx, a middle phalanx, and a distal phalanx connected in sequence.

[0025] Each phalanx is connected by a pin.

[0026] The four-finger fixing connecting piece is connected to the proximal phalanx.

[0027] The thumb connecting piece is connected to the thumb proximal phalanx.

[0028] Further, a limiting groove Ⅰ is provided on the back of the hand of the palm module, and the four-finger fixing connecting piece is located in the limiting groove Ⅰ.

[0029] Further, the connecting piece Ⅰ is in a disc-shaped structure, and a plurality of limiting blocks are arranged at intervals on its outer side wall.

[0030] The connecting member II is in an annular structure, and a limiting groove II is arranged on its inner side wall.

[0031] The diameter of the inner side wall of the connecting member II is greater than the diameter of the outer side wall of the connecting member I. In the connected state, the connecting member II and the connecting member I are nested and connected. At this time, the limiting block is located in the limiting groove II.

[0032] Further, one end of the forearm module connected to the upper arm module I is provided with a groove I, and a limiting post is arranged on the side wall of the groove I.

[0033] One end of the upper arm module I connected to the forearm module is provided with a limiting groove III.

[0034] In the connected state, the upper arm module I is inserted into the groove I, and the limiting post is located in the limiting groove III.

[0035] Further, the outer side surface of one end of the forearm module connected to the upper arm module I is provided with a positioning post.

[0036] A connecting hole is formed on the long connecting rod, and the connecting hole passes through the positioning post and is connected to the forearm module together.

[0037] Further, in the working state, a parallelogram four-bar movement is formed among the forearm module, the upper arm module, the long connecting rod, and the short connecting rod.

[0038] Further, one end of the upper arm module I connected to the upper arm module II is provided with a groove II, and through holes II and III are respectively formed on the two side walls of the groove II, and the axes of the through holes II and III are on the same straight line.

[0039] One end of the upper arm module II connected to the upper arm module I is provided with a groove III, and through holes IV and V are respectively formed on the two side walls of the groove III, and the axes of the through holes IV and V are on the same straight line.

[0040] In the connected state, the axes of the through holes II, III, IV, and V are all on the same straight line. The speed reducer I is located in the through holes II and IV, the motor II is connected to the speed reducer I and is located between the groove II and the groove III; the speed reducer II is located in the through hole V, and the motor III is connected to the speed reducer II and is located outside the groove III.

[0041] Further, the worm reducer includes a worm wheel, a worm, a transmission shaft, a motor IV, a coupling, and a box body.

[0042] A transmission shaft is arranged in the box body, and the transmission shaft extends out of the box body and is connected to the upper arm module II.

[0043] A worm wheel is arranged on the shaft body of the transmission shaft.

[0044] The worm wheel and the transmission shaft are connected by a key.

[0045] The worm gear meshes with the worm wheel and is connected to the motor Ⅳ outside the box through a coupling.

[0046] Flange Ⅰ and flange Ⅱ are oppositely installed at both ends of the box body, and bearing Ⅰ and bearing Ⅲ are respectively arranged between the flange Ⅰ and flange Ⅱ and the transmission shaft.

[0047] The box body is also provided with a flange Ⅲ arranged opposite to the motor Ⅳ.

[0048] The axis of the flange Ⅲ is perpendicular to the axis of the transmission shaft.

[0049] A bearing Ⅱ is arranged between the flange Ⅲ and the worm.

[0050] The technical effect of the present utility model is beyond doubt, and the beneficial effects of the present utility model are as follows:

[0051] The exoskeleton proposed by the present utility model can fit the upper limb of the user after being worn on the human body, and can meet the requirements of various basic rehabilitation training actions. Brief Description of the Drawings

[0052] Figure 1 is a three-dimensional view of the full upper limb arm exoskeleton robot Figure Ⅰ ;

[0053] Figure 2 is a schematic diagram of the hand exoskeleton;

[0054] Figure 3 is an assembly schematic diagram of the palm module and the four-finger module;

[0055] Figure 4 is Figure 2 a partial enlarged view of the nut;

[0056] Figure 5 is a schematic diagram of the wrist exoskeleton;

[0057] Figure 6 is an assembly schematic diagram of the hand exoskeleton, the wrist exoskeleton and the forearm module;

[0058] Figure 7 is a schematic diagram of the forearm module;

[0059] Figure 8 is a schematic diagram of the upper arm module Ⅰ;

[0060] Figure 9 is a three-dimensional view of the full upper limb arm exoskeleton robot Figure Ⅱ ;

[0061] Figure 10 is a three-dimensional view of the full upper limb arm exoskeleton robot Figure Ⅲ ;

[0062] Figure 11 It is a sectional view of a worm gear reducer;

[0063] In the figure: 1 - Hand exoskeleton; 101 - Four - finger module; 1011 - Proximal phalanx; 1012 - Middle phalanx; 1013 - Distal phalanx; 1014 - Limit groove Ⅰ; 102 - Thumb module; 1021 - Thumb proximal phalanx; 1022 - Thumb distal phalanx; 103 - Palm module; 1031 - Fixing plate Ⅱ; 104 - Electric screw rod; 105 - Nut; 106 - Four - finger fixing connector; 107 - Thumb connector; 108 - Finger - palm connector;

[0064] 2 - Wrist exoskeleton; 201 - Pinion module; 202 - Gear module; 203 - Motor Ⅰ; 204 - Fixing plate Ⅰ; 205 - Connector Ⅰ; 206 - Limit block;

[0065] 3 - Elbow exoskeleton; 301 - Forearm module; 3011 - Positioning column; 3012 - Limit column; 3013 - Limit groove Ⅱ; 302 - Upper arm module Ⅰ; 3021 - Limit groove Ⅲ; 303 - Long connecting rod; 304 - Short connecting rod; 305 - Reducer Ⅰ; 306 - Motor Ⅱ; 307 - Connector Ⅱ; 308 - Through - hole Ⅱ; 309 - Through - hole Ⅲ;

[0066] 4 - Shoulder exoskeleton; 401 - Worm gear; 402 - Worm; 403 - Transmission shaft; 404 - Bearing Ⅰ; 405 - Bearing Ⅱ; 406 - Bearing Ⅲ; 407 - Flange Ⅰ; 408 - Flange Ⅱ; 409 - Flange Ⅲ; 410 - Motor Ⅲ; 411 - Motor Ⅳ; 412 - Worm gear reducer; 413 - Upper arm module Ⅱ; 414 - Reducer Ⅱ; 415 - Coupling; 416 - Box body; 417 - Through - hole Ⅳ; 418 - Through - hole Ⅴ. Detailed implementation manners

[0067] The following further describes the present utility model in conjunction with embodiments, but it should not be understood that the above - mentioned theme scope of the present utility model is limited to the following embodiments. Without departing from the above - mentioned technical idea of the present utility model, various substitutions and modifications made according to ordinary technical knowledge and customary means in the art should be included within the protection scope of the present utility model.

[0068] Embodiment 1:

[0069] Refer to Figure 1 , a rehabilitation robotic arm exoskeleton robot with straps, including a hand exoskeleton 1, a wrist exoskeleton 2, an elbow exoskeleton 3, and a shoulder exoskeleton 4 that are connected in sequence.

[0070] Refer to Figures 2 - 4, the hand exoskeleton 1 includes a four - finger module 101, a thumb module 102, a palm module 103, an electric lead screw 104, a nut 105, a four - finger fixing connector 106, and a thumb connector 107.

[0071] An electric lead screw 104 is installed on the back of the hand of the palm module 103. A nut 105 is sleeved on the lead screw of the electric lead screw 104, and the nut 105 is fixedly connected to the four - finger fixing connector 106.

[0072] A thumb connector 107 is connected to the four - finger fixing connector 106.

[0073] The four - finger module 101 and the thumb module 102 are connected to the front end of the palm module 103. At the same time, they are also respectively connected to the four - finger fixing connector 106 and the thumb connector 107.

[0074] After starting the electric lead screw 104, the nut 105 on the lead screw drives the four - finger fixing connector 106 to move, thereby driving the four - finger module 101, the thumb connector 107, and the thumb module 102 to move.

[0075] See Figure 5 、 Figure 6 , the wrist exoskeleton 2 includes a small - gear module 201, a large - gear module 202, a motor I 203 connected to the small - gear module, a fixing plate I 204, and a connector I 205.

[0076] The rear end of the palm module 103 is installed on the plate surface of the fixing plate I 204.

[0077] The small - gear module 201, the large - gear module 202, and the connector I 205 are fixed on the other side plate surface of the fixing plate I 204.

[0078] The small - gear module 201 meshes with the large - gear module 202.

[0079] The connector I 205 is located in the inner hole of the large - gear module 202. Through holes I for the palm to pass through are provided on the connector I 205 and the fixing plate I 204.

[0080] See Figures 7 - 10 , the elbow exoskeleton 3 includes a forearm module 301, an upper - arm module I 302, a long connecting rod 303, a short connecting rod 304, a reducer I 305, a motor II 306, and a connector II 307.

[0081] One end of the forearm module 301 is fixed inside the connector II 307, and the other end is connected to the upper - arm module I 302.

[0082] The connector II 307 is nested and connected with the connector I 205, and both are located in the inner hole of the large - gear module 202.

[0083] One end of the upper arm module I 302 away from the forearm module 301 is connected with a speed reducer I 305, and a motor II 306 and a short connecting rod 304 are connected to the speed reducer I 305. One end of the long connecting rod 303 is connected with the short connecting rod 304, and the other end is connected with the forearm module 301.

[0084] See Figure 10 , the shoulder exoskeleton 4 includes a worm speed reducer 412, an upper arm module II 413, a speed reducer II 414 and a motor III 410.

[0085] The upper arm module II 413 is integrally L-shaped, one end is connected with the upper arm module I 302, and the other end is connected with the worm speed reducer 412.

[0086] A speed reducer II 414 is provided on the upper arm module II 413, and a motor III 410 is connected to the speed reducer II 414.

[0087] The exoskeleton robot is provided with straps for fixing with the patient.

[0088] Embodiment 2:

[0089] The main structure of this embodiment is the same as that of Embodiment 1. Further, see Figure 3 , the four-finger module 101 is connected with the palm module 103 through a finger-palm connecting piece 108, and the finger-palm connecting piece 108 is located on one side of the palm module 103 facing the palm.

[0090] The thumb module 102 is connected with the palm module 103 through a pin shaft.

[0091] Embodiment 3:

[0092] The main structure of this embodiment is the same as any one of Embodiments 1 to 2. Further, see Figure 2 , the thumb module 102 includes a thumb proximal phalanx 1021 and a thumb distal phalanx 1022 connected in sequence.

[0093] The four-finger module 101 includes a proximal phalanx 1011, a middle phalanx 1012 and a distal phalanx 1013 connected in sequence.

[0094] Each phalanx is connected by a pin.

[0095] The four-finger fixing connecting piece 106 is connected with the proximal phalanx 1011.

[0096] The thumb connecting piece 107 is connected with the thumb proximal phalanx 1021.

[0097] Embodiment 4:

[0098] The main structure of this embodiment is the same as that of Embodiment 3. Further, refer to Figure 2 , the proximal phalanx finger 1011 includes proximal phalanx finger I and proximal phalanx finger II. Proximal phalanx finger I is connected to the palm module 103, and proximal phalanx finger II is connected to the four-finger fixing connector 106.

[0099] Refer to Figure 3 , the proximal phalanx thumb 1021 includes proximal phalanx thumb I and proximal phalanx thumb II. Proximal phalanx thumb I is connected to the palm module 103, and proximal phalanx thumb II is connected to the thumb connector 107.

[0100] Embodiment 5:

[0101] The main structure of this embodiment is the same as any one of Embodiments 1 to 4. Further, refer to Figure 2 or Figure 5 , a limiting groove I 1014 is provided on the back of the hand of the palm module 103, and the four-finger fixing connector 106 is located in the limiting groove I 1014.

[0102] Embodiment 6:

[0103] The main structure of this embodiment is the same as any one of Embodiments 1 to 5. Further, refer to Figure 5 , a fixing plate II 1031 is installed on the back of the hand of the palm module 103, and the electric screw rod 104 is installed on the fixing plate 1031.

[0104] Embodiment 7:

[0105] The main structure of this embodiment is the same as any one of Embodiments 1 to 6. Further, the motor I 203 is installed on the connector II 307 of the elbow exoskeleton 3.

[0106] Embodiment 8:

[0107] The main structure of this embodiment is the same as any one of Embodiments 1 to 7. Further, refer to Figure 5 , the connector I 205 is of a disc-shaped structure, and a number of limiting blocks 206 are provided at intervals on its outer side wall.

[0108] Refer to Figure 7 , the connector II 307 is of an annular structure, and a limiting groove II 3013 is provided on its inner side wall.

[0109] The diameter of the inner side wall of the connector II 307 is larger than the diameter of the outer side wall of the connector I 205. In the connected state, the connector II 307 is nested with the connector I 205. At this time, the limiting block is located in the limiting groove II 3013.

[0110] Embodiment 9:

[0111] The main structure of this embodiment is the same as any one of Embodiments 1 to 8. Further, referring to Figure 7 One end of the forearm module 301 connected to the upper arm module I 302 is provided with a groove I, and a limiting post 3012 is arranged on the side wall of the groove I.

[0112] Referring to Figure 8 One end of the upper arm module I 302 connected to the forearm module 301 is provided with a limiting groove III 3021.

[0113] In the connected state, the upper arm module I 302 is inserted into the groove I, and the limiting post 3012 is located in the limiting groove III 3021.

[0114] Embodiment 10:

[0115] The main structure of this embodiment is the same as any one of Embodiments 1 to 9. Further, referring to Figure 7 One outer side surface of one end of the forearm module 301 connected to the upper arm module I 302 is provided with a positioning post 3011.

[0116] A connecting hole is formed in the long connecting rod 303, and the connecting hole passes through the positioning post 3011 to be connected with the forearm module 301 together.

[0117] Embodiment 11:

[0118] The main structure of this embodiment is the same as any one of Embodiments 1 to 10. Further, in the working state, a parallelogram motion is formed among the forearm module 301, the upper arm module 302, the long connecting rod 303, and the short connecting rod 304.

[0119] Embodiment 12:

[0120] The main structure of this embodiment is the same as any one of Embodiments 1 to 11. Further, referring to Figure 8 One end of the upper arm module I 302 connected to the upper arm module II 413 is provided with a groove II, and through holes II 308 and III 309 are respectively formed in two side walls of the groove II, and the axes of the through holes II 308 and III 309 are on the same straight line.

[0121] Referring to Figure 10 One end of the upper arm module II 413 connected to the upper arm module I 302 is provided with a groove III, and through holes IV 417 and V 418 are respectively formed in two side walls of the groove III, and the axes of the through holes IV 417 and V 418 are on the same straight line.

[0122] In the connected state, the axes of the through hole II, through hole III, through hole IV, and through hole V are all on the same straight line. The speed reducer I 305 is located in the through hole II 308 and through hole IV 417. The motor II 306 is connected to the speed reducer I 305 and is located between the groove II and groove III. The speed reducer II 414 is located in the through hole V 418. The motor III 410 is connected to the speed reducer II 414 and is located outside the groove III.

[0123] Embodiment 13:

[0124] The main structure of this embodiment is the same as any one of Embodiments 1 to 12. Further, referring to Figure 11 , the worm gear reducer 412 includes a worm wheel 401, a worm 402, a transmission shaft 403, a motor IV 411, a coupling 415, and a housing 416.

[0125] The housing 416 is provided with a transmission shaft 403, and the transmission shaft 403 extends out of the housing 416 and is connected to the upper arm module II 413.

[0126] The worm wheel 401 is provided on the shaft body of the transmission shaft 403.

[0127] The worm wheel 401 is connected to the transmission shaft 403 by a key.

[0128] The worm 402 meshes with the worm wheel 401 and is connected to the motor IV 411 provided outside the housing 416 through the coupling 415.

[0129] Flange I 407 and flange II 408 are oppositely installed at both ends of the housing 416. Bearing I 404 and bearing III 406 are respectively provided between the flange I 407 and flange II 408 and the transmission shaft 403.

[0130] The housing 416 is further provided with a flange III 409 disposed opposite to the motor IV 411.

[0131] The axis of the flange III 409 is perpendicular to the axis of the transmission shaft 403.

[0132] Bearing II 405 is provided between the flange III 409 and the worm 402.

[0133] Embodiment 14:

[0134] The main structure of this embodiment is the same as any one of Embodiments 1 to 13. Further, it includes a hand exoskeleton, a wrist exoskeleton, an elbow exoskeleton, and a shoulder exoskeleton.

[0135] The hand exoskeleton is connected to the wrist exoskeleton; the wrist exoskeleton is connected to the elbow exoskeleton; the elbow exoskeleton is connected to the shoulder exoskeleton.

[0136] Hand exoskeleton

[0137] The hand exoskeleton includes a four-finger module, a thumb module, a palm module, a motor screw rod, a nut, a four-finger fixing connector, a thumb connector, and four finger-palm connectors.

[0138] The four-finger module is connected to the palm module through the finger-palm connectors.

[0139] The finger-palm connectors are fixedly connected to the palm module through holes.

[0140] Furthermore, the four-finger fixing connector is connected to the proximal phalanx of the four-finger module through through-holes on both sides.

[0141] The motor screw rod is fixedly connected through a motor screw rod fixing plate on the palm module.

[0142] The nut is fixedly connected to the four-finger fixing connector through a through-hole.

[0143] The four-finger fixing connector is connected to the thumb connector through a pin.

[0144] The thumb module is connected to the palm module through a pin shaft.

[0145] Wrist exoskeleton

[0146] The wrist exoskeleton includes a pinion module, a large gear module, and a motor I.

[0147] The large gear module is fixedly connected to the palm module through a through-hole;

[0148] The pinion module meshes with the large gear module.

[0149] There is a motor I on the forearm module.

[0150] The motor I is directly connected to the pinion on the wrist exoskeleton.

[0151] Elbow exoskeleton

[0152] The elbow exoskeleton includes a forearm module, an upper arm module, a long connecting rod, a short connecting rod, a reducer I, and a motor II.

[0153] The upper arm module is connected to the forearm module through a pin; the forearm module is nested with the palm module. A parallelogram linkage motion is formed among the forearm module, the upper arm module, the long connecting rod, and the short connecting rod.

[0154] There is a reducer I above the upper arm module, and the reducer I is directly connected to the motor II.

[0155] The reducer I is connected to the short connecting rod, and the short connecting rod is directly connected to the long connecting rod.

[0156] Shoulder exoskeleton

[0157] The described shoulder exoskeleton includes a worm gear, a worm, a transmission shaft, bearing I, bearing II, bearing III, flange I, flange II, flange III, motor III, motor IV, a worm gear box, upper arm module II, reducer II, and a coupling.

[0158] The worm is connected to motor II through a coupling.

[0159] The worm gear is connected to the transmission shaft by a key.

[0160] The transmission shaft is fixedly connected to upper arm module II through a through hole.

[0161] Motor III and reducer II are provided on upper arm module II.

[0162] Flange I and flange II are fixed on both sides of the worm gear box for fixing the transmission shaft.

[0163] Flange III is fixed in front of the worm gear box for fixing the worm.

[0164] Example 13:

[0165] The main structure of this example is the same as any one of Examples 1 - 12. Further, referring to Figure 1 、 Figure 2 and Figure 4 , start motor lead screw 104 on palm module 103. When motor lead screw 104 rotates forward, the lead screw shaft drives nut 105 to move forward, and four - finger fixing connector 106 moves forward along with nut 105, thereby realizing the bending and grasping of four - finger module 101 and thumb module 102.

[0166] A moving limit groove I 1014 for four - finger fixing connector 106 is provided at the upper end of the hand exoskeleton.

[0167] When four - finger fixing connector 106 moves forward a certain distance, motor lead screw 104 starts to rotate in reverse, the lead screw shaft drives nut 105 to move backward, and four - finger fixing connector 106 moves backward along with nut 105, thereby realizing the straightening and releasing of four - finger module 101 and thumb module 102.

[0168] Example 14:

[0169] The main structure of this example is the same as any one of Examples 1 - 13. Further, referring to Figure 1 and Figure 6 , make motor I 203 on forearm module 301 rotate forward, the small gear module 201 drives the large gear module 202 to rotate counter - clockwise, thereby realizing the left - hand rotation of wrist exoskeleton 2.

[0170] See Figure 5 and Figure 7 A limit block 206 is provided on the wrist exoskeleton 2, and its limit groove II 3013 is provided at the front end of the forearm module 301.

[0171] When the wrist exoskeleton rotates 90°, the motor I 203 on the forearm module 301 starts to reverse, and the pinion module 201 drives the large gear module 202 to rotate clockwise counterclockwise, thereby realizing the right rotation of the wrist exoskeleton 2.

[0172] Embodiment 15:

[0173] The main structure of this embodiment is the same as any one of Embodiments 1 to 14. Further, see Figure 9 When the motor II 306 on the upper arm module 302 is started, when the motor II 306 rotates forward, the speed reducer I 305 drives the short connecting rod 304 to rotate clockwise, and the short connecting rod 304 drives the long connecting rod 303 to move backward, and then drives the forearm module 301 to rotate clockwise, thereby realizing the flexion movement of the elbow exoskeleton 3.

[0174] See Figure 7 and Figure 8 A limit post 3012 is provided in the forearm module 301, and its limit groove III 3021 is provided in the upper arm module 302.

[0175] When the forearm module 301 rotates 135°, the motor II 306 starts to reverse, the speed reducer I 305 drives the short connecting rod 304 to rotate counterclockwise, the short connecting rod 304 drives the long connecting rod 303 to move forward, and then drives the forearm module 301 to rotate counterclockwise, thereby realizing the forward extension movement of the elbow exoskeleton 3.

[0176] Embodiment 16:

[0177] The main structure of this embodiment is the same as any one of Embodiments 1 to 15. Further, see Figure 9 When the motor III 410 on the upper arm module II 413 is started, when the motor III 410 rotates in reverse, the speed reducer II 414 drives the arm to rotate counterclockwise, thereby realizing the abduction movement of the shoulder exoskeleton 4.

[0178] When the upper arm module 302 rotates 135° and touches the upper arm module II, the motor III 410 starts to rotate forward, and the speed reducer II 414 drives the arm to rotate clockwise, thereby realizing the adduction movement of the shoulder exoskeleton 4.

[0179] Embodiment 17:

[0180] The main structure of this embodiment is the same as any one of Embodiments 1 to 16. Further, see Figure 11, start the motor Ⅳ411. The motor Ⅳ411 rotates counterclockwise, the worm 402 drives the worm wheel 401 to rotate clockwise, and the worm wheel 401 drives the transmission shaft 403 to rotate clockwise, realizing the forward flexion of the shoulder exoskeleton 4.

[0181] When the upper arm module Ⅱ413 rotates 135°, the motor Ⅳ411 starts to rotate clockwise. The worm 402 drives the worm wheel 401 to rotate counterclockwise, and the worm wheel 401 drives the transmission shaft 403 to rotate counterclockwise, realizing the backward extension movement of the shoulder exoskeleton 4.

[0182] Embodiment 18:

[0183] The main structure of this embodiment is the same as any one of Embodiments 1 to 17. Further, the present utility model aims at the rehabilitation training needs of different upper limb patients, and designs a full upper limb arm exoskeleton according to the movement mode and characteristics of the human upper limb, referring to the posture of upper limb rehabilitation movement. The motors on the exoskeleton drive the joint movement through gear transmission, worm and worm wheel transmission, etc., and are respectively installed near the corresponding components. The exoskeleton proposed by the present utility model can fit the user's upper limb after being worn on the human body, and can meet the requirements of various basic rehabilitation training actions.

Claims

1. A strap rehabilitation robotic arm exoskeleton robot, characterized in that: It includes a hand exoskeleton (1), a wrist exoskeleton (2), an elbow exoskeleton (3) and a shoulder exoskeleton (4) connected in sequence; The hand exoskeleton (1) includes a four-finger module (101), a thumb module (102), a palm module (103), an electric lead screw (104), a nut (105), a four-finger fixing connector (106) and a thumb connector (107); An electric lead screw (104) is installed on the back of the hand of the palm module (103). A nut (105) is sleeved on the lead screw of the electric lead screw (104), and the nut (105) is fixedly connected to the four-finger fixing connector (106); A thumb connector (107) is connected to the four-finger fixing connector (106); The four-finger module (101) and the thumb module (102) are connected to the front end of the palm module (103), and at the same time, they are also respectively connected to the four-finger fixing connector (106) and the thumb connector (107); The wrist exoskeleton (2) includes a pinion module (201), a large gear module (202), a motor I (203) connected to the pinion module, a fixing plate I (204) and a connector I (205); The rear end of the palm module (103) is installed on the plate surface of the fixing plate I (204); a pinion module (201), a large gear module (202) and a connector I (205) are fixed on the other side plate surface of the fixing plate I (204); The pinion module (201) meshes with the large gear module (202); The connector I (205) is located in the inner hole of the large gear module (202); through holes I for the palm to pass through are provided on the connector I (205) and the fixing plate I (204); The elbow exoskeleton (3) includes a forearm module (301), an upper arm module I (302), a long connecting rod (303), a short connecting rod (304), a reducer I (305), a motor II (306) and a connector II (307); One end of the forearm module (301) is fixed in the connector II (307), and the other end is connected to the upper arm module I (302); The connector II (307) is nested and connected with the connector I (205); A reducer I (305) is connected to the end of the upper arm module I (302) away from the forearm module (301), and a motor II (306) and a short connecting rod (304) are connected to the reducer I (305); one end of the long connecting rod (303) is connected to the short connecting rod (304), and the other end is connected to the forearm module (301); The shoulder exoskeleton (4) includes a worm reducer (412), an upper arm module II (413), a reducer II (414) and a motor III (410); The upper arm module II (413) is integrally L-shaped, one end is connected to the upper arm module I (302), and the other end is connected to the worm reducer (412); A reducer II (414) is provided on the upper arm module II (413), and a motor III (410) is connected to the reducer II (414); The exoskeleton robot is provided with straps.

2. The exoskeleton robot of a bandage rehabilitation robotic arm according to claim 1, wherein: The four-finger module (101) is connected to the palm module (103) through a finger-palm connecting piece (108); the finger-palm connecting piece (108) is located on one side of the palm module (103) facing the palm. The thumb module (102) is connected to the palm module (103) through a pin shaft.

3. The robotic exoskeleton of a strap rehabilitation robotic arm according to claim 1, wherein: The thumb module (102) includes a proximal phalanx of the thumb (1021) and a distal phalanx of the thumb (1022) connected in sequence; the four-finger module (101) includes a proximal phalanx (1011), a middle phalanx (1012), and a distal phalanx (1016) connected in sequence. Each phalanx is connected by a pin. The four-finger fixing connecting piece (106) is connected to the proximal phalanx (1011). The thumb connecting piece (107) is connected to the proximal phalanx of the thumb (1021).

4. A strap rehabilitation robotic arm exoskeleton robot according to claim 1, characterized in that: A limiting groove I (1014) is provided on the back of the hand of the palm module (103), and the four-finger fixing connecting piece (106) is located in the limiting groove I (1014).

5. The strap rehabilitation robotic arm exoskeleton robot according to claim 1, characterized in that: The connecting piece I (205) is of a disc-shaped structure, and a number of limiting blocks (206) are arranged at intervals on its outer side wall. The connecting piece II (307) is of an annular structure, and a limiting groove II (3013) is provided on its inner side wall. The diameter of the inner side wall of the connecting piece II (307) is larger than the diameter of the outer side wall of the connecting piece I (205). In the connected state, the connecting piece II (307) is nested with the connecting piece I (205), and at this time, the limiting blocks (206) are located in the limiting groove II (3013).

6. The exoskeleton robot of a strap rehabilitation robotic arm according to claim 1, characterized in that: One end of the forearm module (301) connected to the upper arm module I (302) is provided with a groove I, and a limiting post (3012) is provided on the inner side wall of the groove I. One end of the upper arm module I (302) connected to the forearm module (301) is provided with a limiting groove III (3021). In the connected state, the upper arm module I (302) is inserted into the groove I, and the limiting post (3012) is located in the limiting groove III (3021).

7. A strap rehabilitation robotic arm exoskeleton robot according to claim 1, characterized in that: The outer side surface of one end of the forearm module (301) connected to the upper arm module I (302) is provided with a positioning post (3011). A connecting hole is provided on the long connecting rod (303), and the connecting hole passes through the positioning post (3011) to be connected to the forearm module (301).

8. The exoskeleton robot of a strap rehabilitation robotic arm according to claim 1, wherein: In the working state, a parallelogram motion is formed among the forearm module (301), the upper arm module I (302), the long connecting rod (303), and the short connecting rod (304).

9. A strap rehabilitation robotic arm exoskeleton robot according to claim 1, characterized in that: One end of the upper arm module I (302) connected to the upper arm module II (413) is provided with a groove II, and through holes II (308) and through holes III (309) are respectively provided on the two side walls of the groove II, and the axes of the through holes II (308) and through holes III (309) are on the same straight line. One end of the upper arm module II (413) connected to the upper arm module I (302) is provided with a groove III, and through holes IV (417) and through holes V (418) are respectively provided on the two side walls of the groove III, and the axes of the through holes IV (417) and through holes V (418) are on the same straight line. In the connected state, the axes of the through holes II, III, IV, and V are all on the same straight line. The reducer I (305) is located in the through holes II (308) and IV (417). The motor II (306) is connected to the reducer I (305) and is located between the groove II and the groove III. The reducer II (414) is located in the through hole V (418). The motor III (410) is connected to the reducer II (414) and is located outside the groove III.

10. The exoskeleton robot of a bandage rehabilitation robotic arm according to claim 1, characterized in that: The worm reducer (412) includes a worm wheel (401), a worm (402), a transmission shaft (403), a motor IV (411), a coupling (415), and a housing (416). The housing (416) is provided with a transmission shaft (403), and the transmission shaft (403) extends out of the housing (416) and is connected to the upper arm module II (413). The worm wheel (401) is provided on the shaft body of the transmission shaft (403). The worm wheel (401) is connected to the transmission shaft (403) by a key. The worm (402) meshes with the worm wheel (401) and is connected to the motor IV (411) provided outside the housing (416) through a coupling (415). Flange I (407) and flange II (408) are oppositely installed at both ends of the housing (416). Between the flange I (407) and the flange II (408) and the transmission shaft (403), there are respectively a bearing I (404) and a bearing III (406). The housing (416) is further provided with a flange III (409) disposed opposite to the motor IV (411). The axis of the flange III (409) is perpendicular to the axis of the transmission shaft (403). A bearing II (405) is provided between the flange III (409) and the worm (402).

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