Translation mechanism and desktop type two-degree-of-freedom upper limb rehabilitation robot

Abstract

The utility model provides a translation mechanism and desktop type two degree-of-freedom upper limb rehabilitation robot, translation mechanism includes two base plate and two transmission subassembly, first transmission subassembly and second transmission subassembly are respectively installed on first base plate and second base plate, the motion output end of first transmission subassembly is fixedly connected with the second base plate, and the motion output end of second transmission subassembly is fixedly connected with the second base plate. At least one transmission assembly comprises a driver, a lead screw driven by the driver to rotate, a nut block in threaded connection with the lead screw, a guide structure, a wiring harness and a wiring harness bracket capable of being bent and deformed, the wiring harness at least supplies power to the driver, at least part of the wiring harness is arranged in the wiring harness bracket, one end of the wiring harness bracket is fixedly connected with the corresponding bottom plate, and the other end of the wiring harness bracket is fixedly connected with the corresponding bottom plate. The other end of the wire harness bracket is connected to the nut block, and the wire harness bracket is placed on the bottom plate. According to the translation mechanism and the desktop type two-degree-of-freedom upper limb rehabilitation robot, the wiring harness can be protected through the wiring harness bracket, the wiring harness bracket is arranged on the bottom plate so that the wiring harness bracket can be more stable, and noise generated during movement is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of transmission mechanisms, and more specifically relates to a translation mechanism and a desktop two-degree-of-freedom upper limb rehabilitation robot. Background Art

[0002] Desktop two-degree-of-freedom upper limb rehabilitation robots can assist the elderly or patients with movement disorders in rehabilitation training, prevent muscle atrophy, and restore the patient's upper limb movement ability. Some desktop two-degree-of-freedom upper limb rehabilitation robots are desktop trainers. The handle is set on the desktop through a translation mechanism. As the translation mechanism works, it can drive the hand support plane to move, and then pull the upper limb to move. When the patient uses the desktop trainer, the hand holds the handle and follows the traction movement of the translation mechanism. The electrical control structures such as the motor, sensor, and control device inside the translation mechanism need to be connected to the wiring harness and connected to the power supply. During the movement of the mechanical transmission mechanism, its moving parts can easily interfere with the wiring harness during rotation or translation, generating noise and even causing damage to the wiring harness. Utility Model Content

[0003] The purpose of the embodiments of the present utility model is to provide a translation mechanism and a desktop two-degree-of-freedom upper limb rehabilitation robot to solve the technical problems in the prior art that wiring harnesses and moving parts easily interfere with each other and generate noise.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a translation mechanism, including two base plates and two transmission components capable of outputting linear motion, the two base plates are respectively a first base plate and a second base plate, the two transmission components are respectively a first transmission component and a second transmission component, the first transmission component and the second transmission component are respectively installed on the first base plate and the second base plate, the motion directions of the motion output end of the first transmission component and the motion output end of the second transmission component are set at an angle, the motion output end of the first transmission component is fixedly connected to the second base plate, at least one of the transmission components includes a driver, a screw driven to rotate by the driver, a nut block threadedly connected to the screw rod, a guide structure for causing the nut block to translate along the length direction of the screw rod, a wiring harness and a wiring harness bracket that can bend and deform, the wiring harness at least supplies power to the driver, at least part of the wiring harness is arranged in the wiring harness bracket, one end of the wiring harness bracket is fixedly connected to the corresponding base plate, and the other end is connected to the nut block, and the wiring harness bracket is placed on the base plate.

[0005] In the above scheme, the translation mechanism includes two base plates and two transmission assemblies. The first transmission assembly and the second transmission assembly are respectively arranged on the first base plate and the second base plate. The motion output end of the first transmission assembly is connected to the second base plate. The motion directions of the motion output end of the first transmission assembly and the motion output end of the second transmission assembly are arranged at an angle, so that the translation mechanism can change the position of an actuator such as a handle in a two-dimensional plane. The transmission assembly is a screw assembly, which can output linear motion and drive the movement of the handle. The transmission assembly also includes a wiring harness and a wiring harness bracket for protecting the wiring harness. One end of the wiring harness bracket is connected to the motion output end of the transmission assembly and the other end is connected to the base plate. The arrangement of the wiring harness bracket can protect the wiring harness. The arrangement of the wiring harness bracket on the base plate can make the wiring harness bracket more stable and reduce noise during movement.

[0006] Optionally, a first connecting plate is fixed on the nut block, and the first connecting plate has a connecting portion extending out of the nut block, and one end of the wiring harness bracket is fixedly connected to the connecting portion.

[0007] In the above solution, by fixing the first connecting plate on the nut block, the connection between the nut block and the wiring harness bracket is facilitated, and the connection position of the wiring harness bracket and the nut block can be made more flexible.

[0008] Optionally, a second connecting plate is provided on the bottom plate, and the second connecting plate includes a horizontal portion and a vertical portion connected to each other, the horizontal portion is fixedly connected to the bottom plate, and the vertical portion is fixedly connected to the wiring harness bracket.

[0009] In the above scheme, the wiring harness bracket and the base plate are connected to each other through the second connecting plate, the horizontal part of the second connecting plate is fixedly connected to the base plate, and the vertical part of the second connecting plate is fixedly connected to the wiring harness bracket, so that the relative position between the wiring harness bracket and the base plate is more flexible to avoid affecting the activity of the wiring harness bracket.

[0010] Optionally, in the same transmission assembly, the harness bracket is extended along the length direction of the screw rod.

[0011] In the above solution, since one end of the harness bracket moves synchronously with the nut block, the length direction of the harness bracket needs to be parallel to the movement direction of the nut block to prevent the harness bracket from being stuck during the movement of the nut block.

[0012] Optionally, the wiring harness bracket includes a plurality of bracket units connected in sequence, and two adjacent bracket units are rotatably connected via a bracket rotating shaft, and the bracket rotating shaft is perpendicular to the length direction of the screw rod.

[0013] In the above solution, by arranging the harness bracket as a plurality of bracket units connected in rotation in sequence, the harness bracket can be bent and deformed to cooperate with the translation of the nut block without colliding or interfering with components such as the nut block.

[0014] Optionally, the transmission assembly also includes a support seat and a support bearing, the support seat is fixed to the base plate, the outer ring of the support bearing is fixed to the inside of the support seat, the inner ring of the support bearing is fixedly connected to the screw rod, and a limit sensor is provided on the support seat, and the limit sensor is electrically connected to the wiring harness.

[0015] In the above solution, the support base and support bearing provide support for the screw and ensure its normal rotation. The support base also provides a mounting location for the limit sensor, allowing it to be positioned close to the extreme position of the nut block. The limit sensor is electrically connected to the wiring harness, so that the wiring harness conducting the limit sensor is also constrained within the harness bracket.

[0016] Optionally, a guide rail is provided on the first base plate, the length direction of the guide rail is parallel to the length direction of the screw rod of the first transmission assembly, and a connecting bracket is fixed on the second base plate, and the connecting bracket is slidably connected to the guide rail.

[0017] In the above scheme, the connecting bracket can move along the first direction with the second base plate. Through the setting of the connecting bracket and the guide rail, the second base plate and the second transmission assembly can be slidably supported, so that the second base plate and the second transmission assembly are more stable when moving in the first direction.

[0018] Optionally, the number of the guide rails and the number of the connecting brackets are both two, and the two guide rails are respectively arranged on opposite sides of the screw rod of the first transmission assembly.

[0019] In the above solution, by arranging guide rails and connecting brackets on both the left and right sides of the screw rod, the connecting brackets can support both ends of the second base plate, thereby providing more stable support for the second base plate.

[0020] Optionally, the movement direction of the movement output end of the first transmission assembly and the movement direction of the movement output end of the second transmission assembly are perpendicular to each other.

[0021] In the above solution, the movement directions of the movement output ends of the two transmission components are perpendicular to each other, so that the handle and other actuators can adjust their positions in the first direction and the second direction, which makes it easier to calculate and control the rotation time and rotation speed of each driver.

[0022] The utility model also provides a desktop two-degree-of-freedom upper limb rehabilitation robot, comprising the above-mentioned translation mechanism and a handle, wherein the handle is connected to the motion output end of the second transmission assembly.

[0023] In the above solution, the arrangement of the wire harness bracket can protect the wire harness, and the arrangement of the wire harness bracket on the bottom plate can make the wire harness bracket more stable and reduce noise during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A three-dimensional structural diagram of a translation mechanism provided in an embodiment of the present utility model;

[0026] Figure 2 A three-dimensional structural diagram of the first transmission assembly provided in an embodiment of the present utility model;

[0027] Figure 3 for Figure 2 The three-dimensional structure diagram near the driver end;

[0028] Figure 4 for Figure 2 A partial enlarged view of point A in the middle;

[0029] Figure 5 A three-dimensional structural diagram of the second transmission assembly provided in an embodiment of the present utility model;

[0030] Figure 6 for Figure 5 The three-dimensional structure diagram near the driver end;

[0031] Figure 7 This is a three-dimensional structural diagram of a desktop two-degree-of-freedom upper limb rehabilitation robot provided by an embodiment of the utility model.

[0032] Among them, the reference numerals in the figures are:

[0033] 1000-desktop two-degree-of-freedom upper limb rehabilitation robot;

[0034] 100 - Translation mechanism; 10 - Bottom plate; 11 - First bottom plate; 12 - Second bottom plate; 20 - Transmission assembly; 21 - First transmission assembly; 22 - Second transmission assembly; 231 - Driver; 232 - Screw rod; 233 - Nut block; 234 - Guide structure; 235 - Harness bracket; 2351 - Bracket unit; 236 - Support seat; 237 - Support bearing; 238 - Limit sensor; 239 - First connecting plate; 2391 - Connecting portion; 24 - Second connecting plate; 241 - Horizontal portion; 242 - Vertical portion; 30 - Guide rail; 40 - Connecting bracket;

[0035] 200-handle. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, 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 cannot be understood as a limitation on the present invention.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0040] A desktop two-degree-of-freedom upper limb rehabilitation robot can assist the elderly or patients with movement disorders in rehabilitation training, prevent muscle atrophy, and restore the patient's upper limb movement ability. Some desktop two-degree-of-freedom upper limb rehabilitation robots are desktop trainers. The handle is set on the desktop through a translation mechanism. As the translation mechanism works, it can drive the hand support plane to move, and then pull the upper limb to move. When the patient uses the desktop trainer, the hand holds the handle 200 and follows the traction movement of the translation mechanism. The electrical control structures such as the motor, sensor, and control device inside the translation mechanism need to be connected to the wiring harness and connected to the power supply. During the movement of the mechanical transmission mechanism, its moving parts can easily interfere with the wiring harness during rotation or translation, generating noise and even causing damage to the wiring harness.

[0041] In order to alleviate the above technical problems, the present invention proposes a translation mechanism 100 and a desktop two-degree-of-freedom upper limb rehabilitation robot 1000. The translation mechanism 100 includes two base plates 10 and two transmission assemblies 20. The first transmission assembly 21 and the second transmission assembly 22 are respectively mounted on the first base plate 11 and the second base plate 12. The first transmission assembly 21 can drive the second transmission assembly 22 to move, and the motion output end of the first transmission assembly 21 and the motion output end of the second transmission assembly 22 are arranged at an angle, so that the motion output end of the second transmission assembly 22 can adjust its position on a two-dimensional plane. At the same time, the transmission assembly 20 has a wire harness bracket 235 arranged on the base plate 10. The wire harness is arranged in the wire harness bracket 235 to protect the wire harness. At the same time, one end of the wire harness bracket 235 is fixed to the base plate 10, and the other end of the wire harness bracket 235 is fixed to the motion output end of the transmission assembly 20, so that the wire harness bracket 235 does not interfere with other structures, thereby reducing the noise generated by collision with other structures.

[0042] See also Figure 1 、 Figure 2 and Figure 7 , the translation mechanism 100 and the desktop two-degree-of-freedom upper limb rehabilitation robot 1000 provided in an embodiment of the present invention are described.

[0043] Please also refer to Figure 1 and Figure 2 The translation mechanism 100 includes two base plates 10 and two transmission assemblies 20. The two base plates 10 are respectively the first base plate 11 and the second base plate 12. Both transmission assemblies 20 can output linear motion. The two transmission assemblies 20 are respectively the first transmission assembly 21 and the second transmission assembly 22. The motion directions of the motion output end of the first transmission assembly 21 and the motion output end of the second transmission assembly 22 are set at an angle, that is, the motion directions of the motion output ends of the two transmission assemblies 20 are different. For the convenience of explanation, the motion direction of the motion output end of the first transmission assembly 21 is set to the first direction, and the motion direction of the motion output end of the second transmission assembly 22 is set to the second direction. The first direction and the second direction are different and are set at an angle. The first transmission assembly 21 is set on the first base plate 11, and the second transmission assembly 22 is set on the second base plate 12. The motion output end of the first transmission assembly 21 is connected to the second base plate 12, and the motion output end of the second transmission assembly 22 is used to connect to an actuator such as a handle 200. In this way, when the first transmission component 21 is working, its motion output end drives the second transmission component 22 to move in the first direction. When the second transmission component 22 is working, its motion output end drives the handle 200 and other actuators to move in the second direction. Therefore, the actuator can move in the first direction and the second direction, that is, it can move on a two-dimensional plane. The translation mechanism 100 can adjust its movement on one of the planes (the plane is parallel to the first direction and the second direction).

[0044] At least one transmission assembly 20 includes a driver 231, a screw 232, a nut block 233, a guide structure 234, a wiring harness, and a wiring harness bracket 235. In other words, the at least one transmission assembly 20 can be understood as a first transmission assembly 21, a second transmission assembly 22, or both. The driver 231 can be fixed to the corresponding base plate 10. For example, the driver 231 of the first transmission assembly 21 is fixed to the first base plate 11, and the driver 231 of the second transmission assembly 22 is fixed to the second base plate 12. The driver 231 is capable of outputting rotational motion. The motion output end of the driver 231 is connected to the screw 232. The nut block 233 is threadedly connected to the screw 232. The guide structure 234 is used to cause the nut block 233 to translate along the length of the screw 232. When the driver 231 is in operation, the screw 232 rotates, and the nut block 233 moves along the length of the screw 232 under the guidance of the guide structure 234. The nut block 233 is the motion output end of the transmission assembly 20. The wiring harness at least supplies power to the driver 231. The cables of other electrical components also belong to the wiring harness. At least part of the wiring harness is arranged in the wiring harness bracket 235. The wiring harness bracket 235 can protect the wiring harness and standardize the path of the wiring harness. The wiring harness bracket 235 can be bent and deformed so that the position and shape of the wiring harness bracket 235 can be changed to adapt to the change in the position of the nut block 233. One end of the wiring harness bracket 235 is fixedly connected to the corresponding base plate 10, and the other end is connected to the nut block 233, and the wiring harness bracket 235 is placed on the base plate 10. Specifically, in the first transmission assembly 21, one end of the wiring harness bracket 235 is fixedly connected to the first base plate 11, and the other end of the wiring harness bracket 235 is connected to the nut block 233 of the first transmission assembly 21; in the second transmission assembly 22, one end of the wiring harness bracket 235 is fixedly connected to the second base plate 12, and the other end of the wiring harness bracket 235 is connected to the nut block 233 of the second transmission assembly 22.

[0045] When the nut block 233 moves, it drives one end of the harness bracket 235 to move, allowing the harness bracket 235 to move along a predetermined path without interfering with other components, ensuring the safety of the harness and reducing collision noise. Furthermore, the harness bracket 235 is placed on the base plate 10, with the majority of the harness bracket 235 supported by the base plate 10, reducing noise during movement.

[0046] The translation mechanism 100 in the above embodiment includes two base plates 10 and two transmission assemblies 20. A first transmission assembly 21 and a second transmission assembly 22 are disposed on the first base plate 11 and the second base plate 12, respectively. The motion output end of the first transmission assembly 21 is connected to the second base plate 12. The motion output ends of the first transmission assembly 21 and the second transmission assembly 22 are arranged at an angle, enabling the translation mechanism 100 to change the position of an actuator, such as a handle 200, in a two-dimensional plane. The transmission assembly 20 is a screw assembly that can output linear motion, driving the handle 200 to move. The transmission assembly 20 also includes a wiring harness and a wiring harness bracket 235 for protecting the wiring harness. One end of the wiring harness bracket 235 is connected to the motion output end of the transmission assembly 20 and the other end is connected to the base plate 10. The arrangement of the wiring harness bracket 235 protects the wiring harness. The arrangement of the wiring harness bracket 235 on the base plate 10 makes the wiring harness bracket 235 more stable and reduces noise during movement.

[0047] In some embodiments of the present invention, please refer to Figure 1 The two base plates 10 are arranged parallel to each other, that is, the first base plate 11 and the second base plate 12 are arranged parallel to each other, so that the structure of the translation mechanism 100 is simpler, the actuator can move in a two-dimensional plane, and the adjustment of the actuator is also simpler.

[0048] For the sake of convenience, the end of the harness bracket 235 connected to the nut block 233 is called the head end of the harness bracket 235 , and the end of the harness bracket 235 connected to the base plate 10 is called the tail end of the harness bracket 235 .

[0049] In some embodiments of the present invention, please refer to Figure 5 and Figure 6 A first connecting plate 239 is fixed to the nut block 233. The first connecting plate 239 has a connecting portion 2391 extending from the nut block 233. One end of the harness bracket 235 is fixedly connected to the connecting portion 2391. The nut block 233 and the harness bracket 235 are fixedly connected via the first connecting plate 239. The first connecting plate 239 has a connecting portion 2391 extending from the nut block 233 to facilitate the connection between the first connecting plate 239 and the harness bracket 235.

[0050] By fixing the first connecting plate 239 on the nut block 233 , the connection between the nut block 233 and the harness bracket 235 is facilitated, and the connection position between the harness bracket 235 and the nut block 233 can be made more flexible.

[0051] In some embodiments, a connection hole is opened on the connection part 2391, and a connection hole is also opened on the head end of the wiring harness bracket 235. A fixing piece is passed through the connection holes on the connection part 2391 and the wiring harness bracket 235 to fix the first connection plate 239 and the wiring harness bracket 235 in connection.

[0052] In some embodiments of the present invention, please refer to Figure 3 The wiring harness bracket 235 and the nut block 233 are directly connected. A connecting hole is provided on the bracket unit 2351 at the head end of the wiring harness bracket 235, and a connecting hole is provided on the nut block 233. The fixing part passes through the connecting hole on the head end bracket unit 2351 and the connecting hole on the nut block 233, so that the wiring harness bracket 235 and the nut block 233 are fixedly connected.

[0053] In some embodiments of the present invention, please refer to Figure 2 and Figure 4 A second connecting plate 24 is provided on the base plate 10 , and the second connecting plate 24 includes a horizontal portion 241 and a vertical portion 242 connected to each other. The horizontal portion 241 is fixedly connected to the base plate 10 , and the vertical portion 242 is fixedly connected to the harness bracket 235 .

[0054] The wiring harness bracket 235 and the base plate 10 are connected to each other through the second connecting plate 24. The horizontal portion 241 of the second connecting plate 24 is fixedly connected to the base plate 10, and the vertical portion 242 of the second connecting plate 24 is fixedly connected to the wiring harness bracket 235, so that the relative position between the wiring harness bracket 235 and the base plate 10 is more flexible to avoid affecting the movement of the wiring harness bracket 235.

[0055] In some embodiments, the horizontal portion 241 and the vertical portion 242 are connected perpendicularly to each other. The horizontal portion 241 is fixed to the base plate 10 and is parallel to the base plate 10. The vertical portion 242 is fixed to the wire harness bracket 235. When the wire harness bracket 235 is placed on the base plate 10, the side of the wire harness bracket 235 is perpendicular to the base plate 10. Therefore, the vertical arrangement of the horizontal portion 241 and the vertical portion 242 facilitates the connection between the side of the wire harness bracket 235 and the base plate 10.

[0056] In some embodiments, the second connecting plate 24 is integrally formed and can be a sheet metal component.

[0057] In some embodiments, the horizontal portion 241 and the bottom plate 10 are connected to each other by screws or other fixing members, and the vertical portion 242 and the harness bracket 235 are connected to each other by screws or other fixing members.

[0058] In some embodiments of the present invention, the base plate 10 and the harness bracket 235 may be directly connected via a fixing member.

[0059] In some embodiments of the present invention, please refer to Figure 1 In the same transmission assembly 20, the harness bracket 235 is extended along the length direction of the screw rod 232. The harness bracket 235 is in an elongated shape, and the extension direction of the harness bracket 235 is the length direction of the harness bracket 235. The length direction of the harness bracket 235 is parallel to the length direction of the screw rod 232.

[0060] Since one end of the harness bracket 235 moves synchronously with the nut block 233 , the length direction of the harness bracket 235 needs to be parallel to the movement direction of the nut block 233 to prevent the harness bracket 235 from being stuck during the movement of the nut block 233 .

[0061] In some embodiments, the wiring harness bracket 235 includes a plurality of bracket units 2351 connected in sequence, and two adjacent bracket units 2351 are rotatably connected by a bracket rotating shaft, and the bracket rotating shaft is perpendicular to the length direction of the screw rod 232. Every two adjacent bracket units 2351 are rotatably connected, so that the wiring harness bracket 235 is similar to a serpentine chain and can bend and deform. When the nut block 233 moves, it can bend and deform accordingly with the change in the position of the nut block 233. When the bracket rotating shaft is perpendicular to the length direction of the screw rod 232, the wiring harness bracket 235 can bend on one side of the screw rod 232, and the length on one side of the screw rod 232 (the length after bending) can be increased or decreased to match the movement of the nut block 233.

[0062] By configuring the harness bracket 235 to include a plurality of bracket units 2351 that are sequentially connected and rotated, the harness bracket 235 can be bent and deformed to cooperate with the translation of the nut block 233 without colliding or interfering with the nut block 233 and other components.

[0063] In some embodiments, see Figure 2 and Figure 3 The length direction of the screw rod 232 is the first direction, the direction of the bracket rotation axis is the third direction, the third direction is perpendicular to the second direction and the first direction, and the head end of the wiring harness bracket 235 is connected to the vertical side of the nut block 233, so that the wiring harness bracket 235 can bend around the third direction.

[0064] In some embodiments, see Figure 5 and Figure 6 The length direction of the screw rod 232 is the second direction, the direction of the bracket rotation axis is the first direction, the first direction is perpendicular to the second direction and the third direction, and the head end of the wiring harness bracket 235 is connected to the vertical side of the nut block 233, so that the wiring harness bracket 235 can bend around the first direction.

[0065] In some embodiments of the present invention, the driver 231 is a motor.

[0066] In some embodiments of the present invention, please refer to Figure 2 and Figure 5The transmission assembly 20 also includes a support seat 236 and a support bearing 237. The support seat 236 is fixed to the base plate 10. The outer ring of the support bearing 237 is fixed to the inside of the support seat 236. The inner ring of the support bearing 237 is fixedly connected to the screw rod 232. A limit sensor 238 is provided on the support seat 236, and the limit sensor 238 is electrically connected to the wiring harness. The support seat 236 and the support bearing 237 are used to support the screw rod 232 so that the screw rod 232 can rotate freely. Specifically, in the first transmission assembly 21, the support seat 236 is fixed to the first base plate 11, and in the second transmission assembly 22, the support seat 236 is fixed to the second base plate 12. The limit sensor 238 is used to limit the nut block 233. When the nut block 233 touches the limit sensor 238, the limit sensor 238 is triggered. Specifically, when the transmission assembly 20 is working, the nut block 233 moves in a straight line. When the nut block 233 moves to the end of the screw rod 232 (the extreme position), the nut block 233 touches the limit sensor 238. The limit sensor 238 receives the touch signal and feeds this signal back to the control board. The control board controls the driver 231 according to the feedback signal, such as stopping the driver 231 from moving.

[0067] The support base 236 and support bearing 237 support the screw rod 232 and ensure its normal rotation. The support base 236 also provides a mounting location for a limit sensor 238, allowing it to be positioned close to the extreme position of the nut block 233. The limit sensor 238 is electrically connected to the wiring harness, so that the wiring harness conducting the limit sensor 238 is also constrained within the wiring harness bracket 235.

[0068] In some embodiments, there are two support seats 236 and two support bearings 237. The two support seats 236 are respectively disposed at both ends of the screw rod 232, and a support bearing 237 is disposed in each support seat 236. The provision of two support seats 236 supports both ends of the screw rod 232, making the rotation of the screw rod 232 more stable.

[0069] Optionally, limit sensors 238 are provided on both support seats 236 to respectively detect whether the nut block 233 has reached two limit positions.

[0070] In some embodiments, the support bearing 237 is a deep groove ball bearing, which has low friction resistance, high rotation speed, and can withstand radial loads or simultaneous radial and axial loads.

[0071] In some embodiments of the present invention, please refer to Figure 2 The guide structure 234 includes a linear slide rail, and the nut block 233 is slidably connected to the linear slide rail, so that the nut block 233 only moves along the length direction of the linear slide rail.

[0072] Optionally, the linear guide rail and the nut block 233 are provided with a dovetail groove and a dovetail block that cooperate with each other to guide the nut block 233 .

[0073] In some embodiments of the present invention, please refer to Figure 1 A guide rail 30 is provided on the first base plate 11. The length direction of the guide rail 30 is parallel to the length direction of the screw rod 232 of the first transmission assembly 21. A connecting bracket 40 is fixed to the second base plate 12 and is slidably connected to the guide rail 30. The length direction of the guide rail 30 and the length direction of the screw rod 232 of the first transmission assembly 21 are both in the first direction, and the movement direction of the connecting bracket 40 on the guide rail 30 is also in the first direction. One end of the connecting bracket 40 is fixedly connected to the second base plate 12, and the other end of the connecting bracket 40 is slidably connected to the guide rail 30.

[0074] The connecting bracket 40 can move along the first direction with the second base plate 12. Through the setting of the connecting bracket 40 and the guide rail 30, the second base plate 12 and the second transmission assembly 22 can be slidably supported, making the second base plate 12 and the second transmission assembly 22 more stable when moving in the first direction.

[0075] In some embodiments, the connecting bracket 40 is curved. Firstly, the structural strength of the connecting bracket 40 can be enhanced. Secondly, the shape of the connecting bracket 40 can be changed to adapt to the guide rails 30 in different positions.

[0076] In some embodiments, see Figure 1 There are two guide rails 30 and two connecting brackets 40, and the two guide rails 30 are respectively disposed on opposite sides of the screw rod 232 of the first transmission assembly 21. In other words, on the first base plate 11, the screw rod 232 is disposed between the two guide rails 30, and the connecting brackets 40 are respectively supported on opposite sides of the second base plate 12 in the second direction. This allows the connecting brackets 40, the second base plate 12, and the second screw rod 232 to slide more smoothly in the first direction.

[0077] By arranging guide rails 30 and connecting brackets 40 on both the left and right sides of the screw rod 232 , the connecting brackets 40 can support both ends of the second base plate 12 , thereby providing more stable support for the second base plate 12 .

[0078] In some embodiments of the present invention, please refer to Figure 1 The motion direction of the motion output end of the first transmission assembly 21 is perpendicular to the motion direction of the motion output end of the second transmission assembly 22. The motion direction of the motion output end of the first transmission assembly 21 is a first direction, and the motion direction of the motion output end of the second transmission assembly 22 is a second direction. The first direction and the second direction are perpendicular to each other.

[0079] The movement directions of the movement output ends of the two transmission components 20 are perpendicular to each other, so that the handle 200 and other actuators can adjust their positions in the first direction and the second direction, making it easier to calculate and control the rotation time and rotation speed of each driver 231.

[0080] In other embodiments, the movement direction of the movement output end of the first transmission component 21 and the movement direction of the movement output end of the second transmission component 22 may also be arranged to form an acute angle.

[0081] The utility model also provides a desktop two-degree-of-freedom upper limb rehabilitation robot 1000, please refer to Figure 7 The desktop two-degree-of-freedom upper limb rehabilitation robot 1000 includes the translation mechanism 100 of any of the above embodiments, and also includes a handle 200, which is connected to the motion output end of the second transmission assembly 22. The translation mechanism 100 can be placed on a desktop for use. When using the desktop two-degree-of-freedom upper limb rehabilitation robot 1000, the patient can sit in a chair and hold the handle 200 with their hand, which then moves in accordance with the movement of the translation mechanism 100.

[0082] The present invention provides a desktop two-degree-of-freedom upper limb rehabilitation robot 1000 that utilizes the aforementioned translation mechanism 100. The translation mechanism 100 comprises two base plates 10 and two transmission assemblies 20. A first transmission assembly 21 and a second transmission assembly 22 are disposed on the first base plate 11 and the second base plate 12, respectively. The motion output end of the first transmission assembly 21 is connected to the second base plate 12. The motion output ends of the first transmission assembly 21 and the second transmission assembly 22 are arranged at an angle, enabling the translation mechanism 100 to change the position of an actuator, such as a handle 200, in a two-dimensional plane. The transmission assembly 20 is a screw assembly that can output linear motion, driving the handle 200. The transmission assembly 20 also includes a wiring harness and a wiring harness bracket 235 for protecting the wiring harness. One end of the wiring harness bracket 235 is connected to the motion output end of the transmission assembly 20 and the other end is connected to the base plate 10. The wiring harness bracket 235 protects the wiring harness. Its placement on the base plate 10 provides greater stability and reduces noise during movement.

[0083] In some embodiments, the second transmission assembly 22 includes a driver 231, a screw 232 driven to rotate by the driver 231, a nut block 233 threadedly connected to the screw 232, a guide structure 234 that allows the nut block 233 to translate along the length of the screw 232, a wire harness, and a bendable wire harness bracket 235. The handle 200 is connected to the nut block 233 of the second transmission assembly 22.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A translation mechanism, characterized in that: The cam is connected to the transmission mechanism by which the transmission mechanism is connected, and the cam is connected to the transmission mechanism by which the transmission mechanism is connected.

2. The translation mechanism according to claim 1, wherein: A first connecting plate is fixed on the nut block. The first connecting plate has a connecting portion extending out of the nut block. One end of the wiring harness bracket is fixedly connected to the connecting portion.

3. The translation mechanism according to claim 1, wherein: A second connecting plate is provided on the bottom plate. The second connecting plate includes a horizontal portion and a vertical portion connected to each other. The horizontal portion is fixedly connected to the bottom plate, and the vertical portion is fixedly connected to the wiring harness bracket.

4. The translation mechanism according to claim 1, wherein: In the same transmission assembly, the harness bracket is extended along the length direction of the screw rod.

5. The translation mechanism according to claim 4, wherein: The harness bracket includes a plurality of bracket units connected in sequence, and two adjacent bracket units are rotatably connected via a bracket rotating shaft, and the bracket rotating shaft and the length direction of the screw rod are perpendicular to each other.

6. The translation mechanism according to any one of claims 1 to 5, wherein: The transmission assembly also includes a support seat and a support bearing. The support seat is fixed to the base plate, the outer ring of the support bearing is fixed to the inside of the support seat, the inner ring of the support bearing is fixedly connected to the screw rod, and a limit sensor is provided on the support seat, and the limit sensor is electrically connected to the wiring harness.

7. The translation mechanism according to any one of claims 1 to 5, wherein: A guide rail is provided on the first base plate, and the length direction of the guide rail is parallel to the length direction of the screw rod of the first transmission assembly. A connecting bracket is fixed on the second base plate, and the connecting bracket is slidably connected to the guide rail.

8. The translation mechanism according to claim 7, wherein: There are two guide rails and two connecting brackets, and the two guide rails are respectively arranged on opposite sides of the screw rod of the first transmission assembly.

9. The translation mechanism according to any one of claims 1 to 5, wherein: The movement direction of the movement output end of the first transmission component and the movement direction of the movement output end of the second transmission component are perpendicular to each other.

10. A desktop two-degree-of-freedom upper limb rehabilitation robot, characterized by: It comprises the translation mechanism according to any one of claims 1 to 9, and further comprises a handle, wherein the handle is connected to the motion output end of the second transmission assembly.

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