Exoskeleton type upper limb rehabilitation robot

Abstract

The utility model belongs to the technical field of rehabilitation robots, and provides an exoskeleton type upper limb rehabilitation robot which comprises a main body module, a big arm module and a small arm module, the main body module comprises a robot base, a supporting part and a shoulder joint movement mechanism, and the shoulder joint movement mechanism is supported on the ground through the main body part and achieves lifting control; the big arm and the small arm are based on the shape of an arm and belong to a linear mechanism, and the big arm module is connected with the main body module to realize fixation and rotation of the big arm; the small arm module is connected with the large arm module and used for driving the elbow joint to rotate inwards / outwards and bend / stretch and the shoulder joint to rotate inwards / outwards. According to the exoskeleton type upper limb rehabilitation robot, through reasonable and compact motor arrangement, basic requirements can be met, the overall structure of the robot is more compact, the size is smaller, and the requirements of actual application scenes are met.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of rehabilitation robot, especially relates to an exoskeleton type upper limb rehabilitation robot. BACKGROUND

[0002] The exoskeleton upper limb rehabilitation training robot industry in China starts from simple repair technology, and has now developed into a modern industrial system with complete industrial chain and advanced technical level, with the acceleration of social aging and technological progress, the demand for such equipment continues to grow, due to the problems of traditional exoskeleton upper limb rehabilitation robots in work efficiency, manufacturing cost, energy consumption and the like, technical innovation is urgently needed to improve its performance.

[0003] At present, most of the exoskeleton upper limb rehabilitation robots adopt combined transmission, which faces problems such as complex structure, low reliability and high manufacturing and maintenance cost, which limits its marketization and popularization. UTILITARY MODEL CONTENT

[0004] The utility model solves the technical problem of overcoming the defects of the prior art, and provides an exoskeleton type upper limb rehabilitation robot which is light, modular and convenient to install and maintain, so as to improve the control and work efficiency of the robot, reduce energy consumption and cost.

[0005] To solve the above technical problems, the utility model provides an exoskeleton type upper limb rehabilitation robot, characterized in that the exoskeleton type upper limb rehabilitation robot comprises a main body module, a large arm module and a small arm module, and the three modules work in coordination to realize the task of the exoskeleton type upper limb rehabilitation robot rehabilitation training.

[0006] The main body module comprises a robot base, a support part and a shoulder joint movement mechanism, and realizes lifting control and flexion / extension of the shoulder joint.

[0007] The large arm module is connected with the main body module to realize fixation and rotation of the large arm.

[0008] The small arm module is connected with the large arm module to drive the internal / external rotation movement, flexion / extension movement of the elbow joint and the internal / external rotation movement of the shoulder joint.

[0009] The robot base comprises a fixed bottom plate, a guide rail fixed plate, a linear guide rail, a guide rail sliding block, a sliding block fixed plate, an upper cover plate, a hydraulic cylinder and a hydraulic cylinder connecting plate, the fixed bottom plate is provided with the guide rail fixed plate on both sides, the linear guide rail is installed on the guide rail fixed plate, the guide rail sliding block is connected and installed on the linear guide rail with the sliding block fixed plate, and the sliding block fixed plate is connected with the hydraulic cylinder through the upper cover plate and the hydraulic cylinder connecting plate.

[0010] The support part comprises a support shaft, a horizontal load plate, a motor, a large cylindrical spur gear and a small cylindrical spur gear, the support shaft is connected with the hydraulic cylinder connecting plate and the horizontal load plate through a fixed support, the motor is connected with the support shaft through a fixed seat, the large cylindrical spur gear is installed on the support shaft, and the small cylindrical spur gear is installed at the end of the motor and meshes with the large cylindrical spur gear to realize the lifting function.

[0011] The shoulder joint movement mechanism comprises a rotating shaft, a horizontal load plate, a bearing seat, a second motor, a second large cylindrical spur gear and a second small cylindrical spur gear, the rotating shaft is installed in the bearing seat at the two ends of the horizontal load plate, the second motor is fixed on the horizontal load plate through a fixed plate and is parallel to the rotating shaft, and the second small cylindrical spur gear at the end of the second motor meshes with the second large cylindrical spur gear on the rotating shaft to drive the rotating shaft to rotate.

[0012] The large arm module comprises a large arm upper connecting rod, a Z-shaped large arm lower connecting rod, a motor, a large arm fixing ring, a hollow gear and a pinion, the large arm upper connecting rod is connected with the end of the rotating shaft through a key groove flange plate, the rotating shaft drives the large arm upper connecting rod to rotate to realize the flexion / extension of the shoulder joint, the large arm upper connecting rod is connected with the Z-shaped large arm lower connecting rod through the large arm fixing ring, the motor is installed between the large arm upper connecting rod and the Z-shaped large arm lower connecting rod through a fixed plate, and the hollow gear is installed on the large arm fixing ring and meshes with the pinion at the end of the motor.

[0013] The small arm module comprises a small arm upper connecting rod, a Z-shaped small arm lower connecting rod, a second small motor, a small arm fixing ring, a second hollow gear, a second pinion and a hand holding rod, the small arm upper connecting rod is connected with the Z-shaped small arm lower connecting rod through the small arm fixing ring, the second small motor is installed between the small arm upper connecting rod and the Z-shaped small arm lower connecting rod through a fixed plate, the second hollow gear is installed on the small arm fixing ring and meshes with the second pinion at the end of the second small motor, and the hand holding rod is installed at the end of the Z-shaped small arm lower connecting rod.

[0014] The hand holding rod comprises a Z-shaped wrench and a second rotating shaft, and the Z-shaped wrench is installed on the second rotating shaft, and the second rotating shaft is connected with the Z-shaped small arm lower connecting rod through a shaft support.

[0015] The utility model discloses reached the beneficial effects of:

[0016] (1) the utility model discloses the above technical scheme, a kind of exoskeleton upper limb rehabilitation robot, through reasonable structure design, realize main body structure lifting, shoulder joint flexion / extension and internal / external rotation, elbow joint flexion / extension and internal / external rotation movement, can satisfy the rehabilitation requirement of most patients, and the application range is wide;

[0017] (2) the utility model discloses the above technical scheme, a kind of exoskeleton upper limb rehabilitation robot, through reasonable compact motor arrangement, not only can realize basic requirement, also make robot overall structure more compact, volume is more small and exquisite, satisfy the demand of practical application scene.

[0018] (3) The utility model discloses adjustable hand holding rod can adapt to the demand of different patients and small arm length, and let the patient select comfortable holding angle when using the robot. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the whole structure schematic diagram of the utility model, and the whole structure schematic diagram of the utility model shows the whole structure of the robot.

[0020] Figure 2 It is the structure schematic diagram of the robot base of the utility model.

[0021] Figure 3 It is the structure schematic diagram of the support part of the utility model.

[0022] Figure 4 It is the structure schematic diagram of the shoulder joint movement mechanism of the utility model.

[0023] Figure 5 It is the structure schematic diagram of the big arm module of the utility model.

[0024] Figure 6 It is the structure schematic diagram of the small arm module of the utility model.

[0025] The meaning of each main figure mark in the drawing is as follows:

[0026] 1-fixed bottom plate, 2-guide rail fixed plate, 3-linear guide rail, 4-guide rail sliding block, 5-sliding block fixed plate, 6-hydraulic cylinder, 7-upper cover plate, 8-hydraulic cylinder connecting plate, 9-supporting shaft, 10-horizontal load plate, 11-motor, 12-large cylindrical spur gear, 13-small cylindrical spur gear, 14-rotation shaft, 15-bearing seat, 16-second motor, 17-second large cylindrical spur gear, 18-second small cylindrical spur gear, 19-big arm upper connecting rod, 20-Z-shaped big arm lower connecting rod, 21-small motor, 22-big arm fixed ring, 23-hollow gear, 24-small gear, 25-small arm upper connecting rod, 26-Z-shaped small arm lower connecting rod, 27-second small motor, 28-small arm fixed ring, 29-second hollow gear, 30-second small gear, 31-Z-shaped spanner, 32-second rotation shaft, 33-fixed support, 34-bearing, 35-motor fixed seat, 36-fixed seat, 37-planetary reducer, 38-tensioning cover, 39-keyway flange, 40-motor fixed plate, 41-planetary reducer, 42-bearing seat assembly, 43-fixed plate, 44-axle support, 45-second fixed plate. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0028] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0029] like Figure 1 The diagram shown is a structural diagram of an exoskeleton-type upper limb rehabilitation robot provided in one embodiment of the present invention. It includes a main body module, an upper arm module, and a forearm module. The exoskeleton-type upper limb rehabilitation robot can perform rehabilitation training tasks by coordinating the work of the three modules.

[0030] The main module includes a robot base, a support section, and a shoulder joint motion mechanism, which enables lifting control and shoulder joint flexion / extension.

[0031] The boom module is connected to the main module to enable the boom to be fixed and rotated.

[0032] The forearm module, connected to the upper arm module, is used to drive the internal / external rotation, flexion / extension movements of the elbow joint, and the internal / external rotation movements of the shoulder joint.

[0033] In one embodiment of this utility model, the exoskeleton-type upper limb rehabilitation robot addresses the problems of complex structure, low reliability, and high manufacturing and maintenance costs of existing rehabilitation robots by incorporating a lightweight, modular, and simple main body module, upper arm module, and forearm module. While meeting various rehabilitation training requirements, it reduces the cost of the exoskeleton-type upper limb robot and simplifies its structure.

[0034] like Figure 2 As shown, in a preferred embodiment of this utility model, the robot base includes:

[0035] A fixed base plate 1 is provided, and guide rail fixing plates 2 are installed on both sides of the fixed base plate 1.

[0036] A linear guide rail 3 is mounted on the guide rail fixing plate 2. A guide rail slider 4 is mounted on the linear guide rail 3. The guide rail slider 4 is connected to the slider fixing plate 5. The slider fixing plate 5 passes through the upper cover plate 7 and is connected to the hydraulic cylinder connecting plate 8.

[0037] Hydraulic cylinder 6 passes through the upper cover plate 7 and is connected to the support shaft 9 via the hydraulic cylinder connecting plate 8.

[0038] like Figure 3 As shown, in a preferred embodiment of this utility model, the supporting portion includes:

[0039] Supporting shaft 9, the supporting shaft 9 is connected with horizontal carrier plate 10 and hydraulic cylinder connecting plate 8 through fixed support 33 and fixed support 36 respectively;

[0040] Motor assembly, motor 11 and planetary reducer 37 are connected through bolts to form a motor assembly, and the motor assembly is connected with supporting shaft 9 through motor fixing seat 35 and bearing 34;

[0041] Large cylindrical spur gear 12 is fixed on supporting shaft 9;

[0042] Small cylindrical spur gear 13 is installed at the end of planetary reducer 37 in the motor assembly and meshes with large cylindrical spur gear 12;

[0043] The module is driven by motor 11 to drive small cylindrical spur gear 13 to rotate, and large cylindrical spur gear 12 is driven to rotate through gear transmission, and large cylindrical spur gear 12 is driven to rotate by the rotating large cylindrical spur gear 12, and the height of the rehabilitation training part of the robot is adjusted by using the lifting control of the screw rod transmission.

[0044] As Figure 4 shown, a preferred embodiment of the utility model, the shoulder joint movement mechanism comprises:

[0045] Rotating shaft 14 is installed in bearing seat 15 at both ends of horizontal carrier plate 10 through bearing seat assembly 42, and is connected with upper arm connecting rod 19 through key groove flange 39 and tension cover 38 close to one end of upper arm connecting rod 19;

[0046] Motor assembly, second motor 16 and planetary reducer 41 are connected through bolts to form a motor assembly, and the motor assembly is fixed on horizontal carrier plate 10 through motor fixing plate 40 and is parallel to rotating shaft 14;

[0047] Second large cylindrical spur gear 17 is fixed on rotating shaft 14;

[0048] Second small cylindrical spur gear 18 is installed at the end of planetary reducer 41 in the motor assembly and meshes with second large cylindrical spur gear 17;

[0049] The module is driven by second motor 16 on horizontal carrier plate 10 to drive second small cylindrical spur gear 18 to rotate, and second large cylindrical spur gear 17 is driven to rotate through gear transmission, and rotating shaft 14 is driven to rotate by second large cylindrical spur gear 17 fixed on rotating shaft 14, so that upper arm connecting rod 19 connected with rotating shaft 14 is driven to rotate, and the flexion / extension movement of the shoulder joint is realized through the organic combination of the components.

[0050] As Figure 5As shown, as a preferred embodiment of the utility model, the big arm module includes: big arm upper connecting rod 19, Z type big arm lower connecting rod 20, small motor 21, big arm fixed ring 22, hollow gear 23, pinion 24, fixed plate 43, big arm upper connecting rod 19 is connected with Z type big arm lower connecting rod 20 through big arm fixed ring 22 and fixed plate 43, small motor 21 is installed between big arm upper connecting rod 19 and Z type big arm lower connecting rod 20 through fixed plate 43, and it keeps parallel with big arm upper connecting rod 19, hollow gear 23 is installed on big arm fixed ring 22, and it is engaged with the pinion 24 at the end of small motor 21;The big arm module is driven to rotate pinion 24 by the power provided by second small motor 27, and the output shaft of the motor is connected with pinion 24, and the transmission is transmitted through hollow gear 23, and the rotation of the big arm part is realized by interacting with the arm fixed ring 22, since the big arm fixed ring 22 is buckled with the big arm, the rotation of the big arm can be controlled, thereby realizing the rehabilitation training of the big arm muscle.

[0051] As shown, Figure 6 The small arm module includes:

[0052] Small arm upper connecting rod 25, Z type small arm lower connecting rod 26, second small motor 27, small arm fixed ring 28, second hollow gear 29, second pinion 30, Z type wrench 31, second rotating shaft 32, shaft support 44, second fixed plate 45, small arm upper connecting rod 25 is connected with Z type small arm lower connecting rod 26 through small arm fixed ring 28 and second fixed plate 45, second small motor 27 is installed between small arm upper connecting rod 25 and Z type small arm lower connecting rod 26 through second fixed plate 45, and it keeps parallel with small arm upper connecting rod 25, second hollow gear 29 is installed on small arm fixed ring 28, and it is engaged with the second pinion 30 at the end of second small motor 27, second rotating shaft 32 is connected with Z type small arm lower connecting rod 26 through shaft support 44, and Z type wrench 31 is installed on second rotating shaft 32.

[0053] The mechanism is driven to rotate second pinion 30 by the power provided by second small motor 27, and the rotation of second hollow gear 29 is driven by rotating second pinion 30, thereby controlling the rotation of small arm fixed ring 28, to realize the rehabilitation training of the small arm, in order to ensure that the rotation of the shoulder joint of the patient is met, and the elbow joint rotation movement can be avoided and exercised at the same time, the rotation angle of second hollow gear 29 is 0 °~135 ° for internal rotation and 0 °~95 ° for external rotation, when the rotation angle of second hollow gear 29 exceeds the rotation angle of the small arm, the big arm will be rotated, and at the same time the small arm support can be rotated by holding Z type wrench 31 with the hand, thereby realizing the training of the biceps of the big arm, and the hand holding rod is designed to be rotatable, which can adapt to the needs of different patients and small arm lengths, and at the same time the patient can choose a comfortable holding angle when using the robot.

[0054] The above-described embodiments solve the technical problems, technical schemes and beneficial effects of the present application

[0055] Further detailed description is made, the technical means disclosed in the present application scheme is not limited to the technical means disclosed in the above-mentioned embodiments, and also includes the technical scheme composed of any combination of the above technical features. It should be pointed out that, for ordinary skilled persons in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which are also considered as the protection scope of the present application.

Claims

1. An exoskeleton type upper limb rehabilitation robot characterized by comprising: The exoskeleton upper limb rehabilitation robot comprises a main body module, a large arm module and a small arm module, and realizes the rehabilitation training task of the exoskeleton upper limb rehabilitation robot through the coordinated work of the three modules. The main body module comprises a robot base, a support part and a shoulder joint movement mechanism, and realizes the lifting control and the flexion / extension of the shoulder joint. The large arm module is connected with the main body module, and realizes the fixation and rotation of the large arm. The small arm module is connected with the large arm module, and is used for driving the internal / external rotation movement, the flexion / extension movement of the elbow joint and the internal / external rotation movement of the shoulder joint.

2. The exoskeleton type upper limb rehabilitation robot according to claim 1, characterized in that, The robot base comprises: A fixed bottom plate (1) is provided with guide rail fixed plates (2) on both sides. A linear guide rail (3) is installed on the guide rail fixed plate (2), and a guide rail sliding block (4) is installed on the linear guide rail (3). A hydraulic cylinder (6) is connected with a support shaft (9) through a hydraulic cylinder connecting plate (8) and an upper cover plate (7).

3. The exoskeleton type upper limb rehabilitation robot according to claim 1, characterized in that, The support part comprises: A support shaft (9) is connected with a hydraulic cylinder connecting plate (8) and a horizontal load plate (10) through a fixed support; A motor (11) is connected with the support shaft (9) through a fixed seat; A large cylindrical spur gear (12) is installed on the support shaft (9); A small cylindrical spur gear (13) is installed on the motor (11) and meshes with the large cylindrical spur gear (12) to realize the lifting function.

4. The exoskeleton type upper limb rehabilitation robot according to claim 1, characterized in that, The shoulder joint movement mechanism comprises: A rotating shaft (14) is installed in a bearing seat (15) at both ends of the horizontal load plate (10); A second motor (16) is fixed on the horizontal load plate (10) through a motor fixed plate and is parallel to the rotating shaft (14); A second large cylindrical spur gear (17) is installed on the rotating shaft (14); A second small cylindrical spur gear (18) is installed on the second motor (16) and meshes with the second large cylindrical spur gear (17) to drive the rotating shaft (14) to rotate.

5. The exoskeleton type upper limb rehabilitation robot according to claim 4, characterized in that, The end of the rotating shaft (14) is connected with a large arm upper connecting rod (19) through a key groove flange, and the rotating shaft (14) drives the large arm upper connecting rod (19) to rotate to realize the flexion / extension of the shoulder joint.

6. The exoskeleton type upper limb rehabilitation robot according to claim 1, wherein The large arm module comprises a large arm upper connecting rod (19), a Z-shaped large arm lower connecting rod (20), a small motor (21), a large arm fixing ring (22), a hollow gear (23) and a pinion (24), the large arm upper connecting rod (19) is connected with the Z-shaped large arm lower connecting rod (20) through the large arm fixing ring (22), the small motor (21) is installed between the large arm upper connecting rod (19) and the Z-shaped large arm lower connecting rod (20) through a fixed plate, and the hollow gear (23) is installed on the large arm fixing ring (22) and meshes with the pinion (24) at the end of the small motor (21).

7. The exoskeleton type upper limb rehabilitation robot according to claim 1, wherein The small arm module comprises a small arm upper connecting rod (25), a Z-shaped small arm lower connecting rod (26), a second small motor (27), a small arm fixing ring (28), a second hollow gear (29), a second pinion (30) and a hand holding rod, the small arm upper connecting rod (25) is connected with the Z-shaped small arm lower connecting rod (26) through the small arm fixing ring (28), the second small motor (27) is installed between the small arm upper connecting rod (25) and the Z-shaped small arm lower connecting rod (26) through a fixing plate, the second hollow gear (29) is installed on the small arm fixing ring (28) and is engaged with the second pinion (30) at the end of the second small motor (27), and the hand holding rod is installed at the end of the Z-shaped small arm lower connecting rod (26).

8. The exoskeleton type upper limb rehabilitation robot according to claim 7, characterized in that, The hand holding rod comprises a Z-shaped wrench (31) and a second rotating shaft (32), the Z-shaped wrench (31) is installed on the second rotating shaft (32), and the second rotating shaft (32) is connected with the Z-shaped small arm lower connecting rod (26) through a shaft support.

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