Wrist rehabilitation robot with shifting

Abstract

The utility model relates to a wrist joint rehabilitation robot with gear shifting, having a pair of left and right symmetrical parallel mechanism module, a pair of left and right symmetrical base platform and a pair of left and right symmetrical movable platform, each spherical parallel mechanism module corresponds a corresponding base platform and a corresponding movable platform, each movable platform is arranged to rotate and translate in the workspace of corresponding parallel mechanism module, and a pair of left and right symmetrical supporting frames are further arranged, the base platform is rotationally arranged on the upper end of the supporting frame, one of the supporting frames is further provided with a gear shifting assembly for switching between the left and right follow-up mode and the mirror image motion mode of the symmetrical parallel mechanism module, the other supporting frame is provided with a driven assembly, and an adjusting assembly for driving the gear shifting assembly to shift gears is further arranged, the utility model can increase the function of mirror image motion on the basis of left and right follow-up, and the function is rich.

Description

Technical Field

[0001] This utility model relates to a wrist joint rehabilitation robot with gear shifting. Background Technology

[0002] Wrist joint rehabilitation robots are intelligent devices that combine robotics, biomechanics, and rehabilitation medicine to help patients with wrist injuries or after surgery regain motor function. Their core objective is to provide precise, controllable, and personalized rehabilitation training to replace or assist traditional manual rehabilitation treatments.

[0003] Existing wrist joint rehabilitation robots can only achieve synchronous follow-up movements on both sides during the rehabilitation process, lacking mirror movements that are more in line with the principles of rehabilitation medicine. The rehabilitation exercise methods are limited in function and cannot meet the needs of more rehabilitation exercises.

[0004] First, we need a wrist joint rehabilitation robot that can perform both left-right follow-up movements and mirror movements. Summary of the Invention

[0005] The purpose of this invention is to provide a wrist joint rehabilitation robot with shifting gears, which can add mirror motion function on the basis of left and right follow-up, thus having rich functions.

[0006] The technical solution to achieve the purpose of this utility model is as follows: This utility model has a pair of parallel mechanism modules arranged symmetrically on the left and right, a pair of base platforms arranged symmetrically on the left and right, and a pair of movable platforms arranged symmetrically on the left and right. Each of the spherical parallel mechanism modules corresponds to a corresponding base platform and a corresponding movable platform. Each movable platform is configured to rotate and translate within the working space of the corresponding parallel mechanism module. A pair of support frames arranged symmetrically on the left and right are also provided, with each base platform corresponding to one of the support frames. The base platforms are rotatably mounted on the upper end of the support frames. One support frame is also provided with a shifting component, and the other support frame is provided with a driven component that can cooperate with the shifting component. The parallel mechanism modules arranged symmetrically on the left and right switch between left-right following mode and mirror motion mode under the action of the shifting component and the driven component. An adjustment component for driving the shifting component to shift gears is also provided.

[0007] Furthermore, each support frame is provided with an installation space for a shifting component or a driven component. The shifting component includes a first main shaft rotatably disposed in the installation space, a synchronous gear loosely fitted on the first main shaft, a reverse gear loosely fitted on the first main shaft, a first synchronous pulley fixedly disposed on the reverse gear, a sliding turntable slidably disposed on the first main shaft and capable of rotating synchronously with the first main shaft, and a reversing gear rotatably disposed on the support frame. The driven component includes a second main shaft rotatably disposed in the installation space and a second synchronous pulley fixedly disposed on the second main shaft. The first synchronous pulley and the second synchronous pulley are correspondingly disposed, and a conveyor belt capable of acting on the first synchronous pulley and the second synchronous pulley simultaneously is also provided. Furthermore, the support base is provided with through holes for the first spindle and the second spindle to pass through. One end of the first spindle and the second spindle are fixedly connected to the base platform on the corresponding support frame after passing through the corresponding through holes. The other ends of the first spindle and the second spindle are rotatably mounted on the corresponding support base. One end of the first spindle and the second spindle are fixedly connected to the corresponding base platform through the through holes respectively. Furthermore, the reversing gear is provided with a first rack, and the synchronizing gear and the reversing gear are arranged opposite each other. Each of the synchronizing gear and the reversing gear has a second rack on its opposite side that can mesh with the first rack on the reversing gear. Each of the synchronizing gear and the reversing gear also has a slot on its opposite side. A sliding space is provided between the synchronizing gear and the reversing gear for a sliding turntable to slide within. The sliding turntable is fixedly provided with a first locking block and a second locking block that can respectively engage with the slots on the synchronizing gear and the reversing gear. When the first locking block engages with the slot on the synchronizing gear, the second locking block disengages from the slot on the reversing gear. The first synchronous pulley rotates with the first main shaft through the engagement of the first locking block with the slot on the synchronizing gear. The first and second main shafts rotate in the same direction through the rotation of the first main shaft with the first synchronous pulley and the action of the conveyor belt between the first and second synchronous pulleys. When the first locking block engages with the slot on the reverse gear, the second locking block disengages from the slot on the synchronous gear. The first synchronous pulley rotates in the opposite direction to the rotation of the first main shaft through the engagement of the first locking block with the slot on the reverse gear, the meshing of the rack on the reverse gear with the rack on the reversing gear, and the meshing of the rack on the reversing gear with the synchronous gear. The first and second main shafts rotate in the opposite direction through the rotation of the first main shaft with the first synchronous pulley and the action of the conveyor belt between the first and second synchronous pulleys.

[0008] Furthermore, the adjustment assembly includes a drive base, a lead screw rotatably mounted on the drive base, guide rods parallel to the lead screw on both sides of the lead screw, a fixed block threaded to the lead screw and slidably mounted to the guide rods, a shift fork fixedly mounted on the fixed block and used to drive a sliding turntable to slide on the first main shaft, and a drive device for driving the lead screw to rotate. The first main shaft is provided with multiple corresponding synchronous gears, reverse gears, a first synchronous pulley, a sliding turntable, and a reversing gear. Multiple shift forks are provided and are corresponding to the sliding turntable. The side wall of the sliding turntable is provided with a groove extending along the contour direction of the sliding turntable. The shift fork is provided with a shift fork head that can be inserted into the groove. A cam follower is provided between the shift fork head and the groove. The shift fork head and the groove form a sliding engagement under the action of the cam follower. The sliding turntable slides on the first main shaft through the rotation drive of the lead screw by the drive device, the threaded engagement between the fixed block and the lead screw, the sliding engagement between the fixed block and the guide rod, and the engagement with the shift fork.

[0009] Furthermore, the parallel mechanism module includes a first kinematic chain, a second kinematic chain, and a third kinematic chain. Each of the first, second, and third kinematic chains has a first connector, a second connector, and a third connector. One end of the first connector is rotatably mounted on the base platform. One end of the second connector is rotatably connected to the other end of the first connector. The other end of the second connector is rotatably connected to one end of the third connector. The other end of the third connector is rotatably connected to the movable platform.

[0010] Furthermore, a first rotating connector is provided on one end of the first connector and the second connector that are rotatably connected, and on one end of the third connector that is rotatably connected to the second connector. A second rotating connector is provided on both ends of the third connector that can be rotatably connected to the first rotating connector. The first connector, the second connector, and the third connector are rotatably connected in sequence through the rotational connection between the first rotating connector and the second rotating connector.

[0011] Furthermore, the first connector is fixedly provided with a protrusion on one end of the base platform, and the base platform is provided with a groove that can be inserted and rotated with the protrusion. The first connector is fixedly provided on the base platform through the insertion and engagement of the protrusion and the groove.

[0012] Furthermore, the movable platform is provided with a drive assembly, which includes a support base mounted on the movable platform, an arm support block fixedly mounted on the support base, and a handle fixedly mounted on the third connector.

[0013] The present invention has positive effects: (1) The support frame of the present invention is provided with a driven component that can cooperate with the shifting component. The parallel mechanism module arranged symmetrically on the left and right switches between the left and right follow-up mode and the mirror motion mode under the action of the shifting component and the driven component. It is also provided with an adjustment component for driving the shifting component to shift gears. After the shifting component is driven by the adjustment component, the parallel mechanism module can rotate in the same direction on the left and right or rotate in opposite directions on the left and right. It adds mirror rotation on the basis of the existing left and right follow-up, enriching the function.

[0014] (2) The shifting assembly of this utility model includes a first main shaft, a synchronous gear, a reverse gear, a first synchronous pulley, a sliding turntable, and a reversing gear. The driven assembly includes a second main shaft and a second synchronous pulley. The first synchronous pulley and the second synchronous pulley are connected by a transmission belt. By sliding the sliding turntable and engaging the first and second locking blocks on the sliding turntable with the synchronous gear and the reverse gear respectively, the synchronous gear on the first main shaft rotates in the same or opposite direction as the first main shaft, thereby driving the first synchronous pulley on the synchronous gear to rotate. The first synchronous pulley drives the second synchronous pulley to rotate through the transmission belt, and the second synchronous pulley drives the second main shaft to rotate in the same direction. When the synchronous gear rotates in the same direction as the first main shaft, the rotation direction of the second main shaft is the same as the rotation direction of the first main shaft. When the synchronous gear rotates in the opposite direction to the rotation direction of the first main shaft, the rotation direction of the second main shaft is opposite to the rotation direction of the first main shaft. This allows the first main shaft and the second main shaft to move left and right or mirror images, increasing the functionality.

[0015] (3) The adjustment component of this utility model includes a drive base, a lead screw rotatably mounted on the drive base, a guide rod parallel to the lead screw on both sides of the lead screw, a fixed block that forms a threaded engagement with the lead screw and a sliding engagement with the guide rod, a shift fork block fixedly mounted on the fixed block and used to drive the sliding turntable to slide on the first main shaft, and a drive device for driving the lead screw to rotate; the fixed block drives the shift fork block to drive the sliding turntable to rotate on the first main shaft through the threaded engagement with the lead screw, so that the first and second locking blocks on the sliding turntable can quickly form an insertion engagement with the synchronous gear and the reverse gear respectively, which is efficient and convenient.

[0016] (4) The parallel mechanism module of this utility model includes a first kinematic chain, a second kinematic chain and a third kinematic chain. The first kinematic chain, the second kinematic chain and the third kinematic chain each have a first connector, a second connector and a third connector. One end of the first connector is rotatably mounted on the base platform. One end of the second connector is detachably fixed to the other end of the first connector. The other end of the second connector is rotatably connected to one end of the third connector. The other end of the third connector is rotatably connected to the movable platform. Through the connection of the first connector, the second connector and the third connector, the movable platform can rotate and translate within the space formed by the first kinematic chain, the second kinematic chain and the third kinematic chain. At the same time, the connection of the first connector, the second connector and the third connector makes the connection of the first kinematic chain, the second kinematic chain and the third kinematic chain elastic and supportive.

[0017] (5) The first connecting member, the second connecting member and the third connecting member of this utility model are sequentially rotated through the rotational connection between the first rotating connecting member and the third rotating connecting member and the rotational connection between the second rotating connecting member and the fourth rotating connecting member. The first connecting member is provided with a protrusion fixed on one end of the base platform. The base platform is provided with a groove that can be inserted and rotated with the protrusion. The first connecting member is fixedly set on the base platform through the insertion and engagement of the protrusion and the groove. The first connecting member, the second connecting member and the third connecting member can be quickly installed and replaced through the rotational connection of the first rotating connecting member, the second rotating connecting member and the third rotating connecting member and the engagement of the protrusion and the groove, which is efficient and convenient. Attached Figure Description

[0018] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram showing the cooperation between the shifting assembly and the driven assembly of this utility model. Figure 3 This is a schematic diagram of the shifting assembly of this utility model; Figure 4 This is a schematic diagram of the structure of the adjustment component of this utility model; Figure 5 This is a structural schematic diagram of the parallel mechanism module of this utility model; Figure 6 This is a front view of the gear shifting assembly of this utility model; Figure 7 This is a schematic diagram of the parallel gear transmission system, which is the replacement solution for the shifting component of this utility model.

[0019] In the diagram, the parallel mechanism module is 1; the first connecting piece is 11; the second connecting piece is 12; the third connecting piece is 13; the base platform is 2; the movable platform is 3; the support frame is 4; the shifting assembly is 5; the first main shaft is 51; the synchronous gear is 52; the reversing gear is 53; the first synchronous belt pulley is 54; the sliding turntable is 55; the first locking block is 551; the second locking block is 552; the slot is 553; the reversing gear is 56; the first rack is 561; the second rack is 57; the driven assembly is 6; the second main shaft is 61; the second synchronous belt pulley is 62; and the adjustment... Components: 7, Drive base: 71, Lead screw: 72, Guide rod: 73, Fixing block: 74, Shift fork block: 75, Shift fork head: 751, Drive device: 76, First rotating connector: 8, Second rotating connector: 9, Drive assembly: 10, Support base: 101, Arm support block: 102, Handle: 103, Conveyor belt: a, Cam follower: b, Left shaft: A, Upper input gear: A1, Lower input gear: A2, Right shaft: B, Output gear: B1, Sliding shaft: C, Intermediate gear: C1, Intermediate shaft: D, Directional gear: D1. Detailed Implementation

[0020] See Figures 1 to 7 This utility model has a pair of symmetrically arranged parallel mechanism modules 1, a pair of symmetrically arranged base platforms 2, and a pair of symmetrically arranged movable platforms 3. Each spherical parallel mechanism module 1 corresponds to a corresponding base platform 2 and a corresponding movable platform 3. Each movable platform 3 is configured to rotate and translate within the working space of the corresponding parallel mechanism module 1. It also has a pair of symmetrically arranged support frames 4, with each base platform 2 corresponding to one support frame 4. The base platform 2 is rotatably arranged on the upper end of the support frame 4. One support frame 4 is also provided with a shifting component 5, and the other support frame 4 is provided with a driven component 6 that can cooperate with the shifting component 5. The symmetrically arranged parallel mechanism modules 1 switch between left-right following mode and mirror motion mode under the action of the shifting component 5 and the driven component 6. It also has a drive component 7 for driving the shifting component 5 to perform shifting.

[0021] Each support frame 4 is provided with an installation space for mounting a shifting assembly 5 or a driven assembly 6. The shifting assembly 5 includes a first main shaft 51 rotatably mounted in the installation space, a synchronous gear 52 loosely fitted on the first main shaft 51, a reverse gear 53 loosely fitted on the first main shaft 51, a first synchronous pulley 54 fixedly mounted on the reverse gear 53, a sliding turntable 55 slidably mounted on the first main shaft 51 and capable of rotating synchronously with the first main shaft 51, and a reversing gear 56 rotatably mounted on the support frame 4. The driven assembly 6 includes a second main shaft 61 rotatably mounted in the installation space and a first synchronous pulley 54 fixedly mounted on the support frame 4. The second synchronous pulley 62 is mounted on the second main shaft 61. The first synchronous pulley 54 and the second synchronous pulley 62 are correspondingly arranged. A conveyor belt a is also provided that can act on both the first synchronous pulley 54 and the second synchronous pulley 62 simultaneously. The support base 101 is provided with through holes for the first main shaft 51 and the second main shaft 61 to pass through. One end of the first main shaft 51 and the second main shaft 61 is fixedly connected to the base platform 2 on the corresponding support frame 4 after passing through the corresponding through holes. The other end of the first main shaft 51 and the second main shaft 61 is rotatably mounted on the corresponding support base 101. The first main shaft 51 and the second main shaft 61 pass through one end of the through hole. Each gear is fixedly connected to its corresponding base platform 2. The reversing gear 56 is provided with a first rack 561. The synchronizing gear 52 and the reversing gear 53 are arranged opposite each other. On the opposite side of the synchronizing gear 52 and the reversing gear 53, there is a second rack 57 that can mesh with the first rack 561 on the reversing gear 56. On the opposite side of the synchronizing gear 52 and the reversing gear 53, there is also a slot. A sliding space is provided between the synchronizing gear 52 and the reversing gear 53, allowing the sliding turntable 55 to slide within it. The sliding turntable 55 is fixedly provided with slots on the synchronizing gear 52 and the reversing gear 53, respectively. The slots on the first and second locking blocks 551 and 552 form a plug-in engagement; when the first locking block 551 is plugged into the slot on the synchronous gear 52, the second locking block 552 disengages from the slot on the reverse gear 53. The first synchronous pulley 54 rotates in the same direction as the first main shaft 51 through the plug-in engagement of the first locking block 551 with the slot on the synchronous gear 52. The first main shaft 51 and the second main shaft 61 rotate in the same direction through the rotation of the first synchronous pulley 54 and the first main shaft 51, as well as the action of the conveyor belt a between the first synchronous pulley 54 and the second synchronous pulley 62.When the first locking block 551 engages with the slot on the reverse gear, the second locking block 552 disengages from the slot on the synchronous gear 52. The first synchronous pulley 54 rotates in the opposite direction to the first main shaft 51 through the engagement of the first locking block 551 with the slot on the reverse gear 53, the meshing of the rack on the reverse gear 53 with the rack on the reversing gear 56, and the meshing of the rack on the reversing gear 56 with the synchronous gear 52. The first main shaft 51 and the second main shaft 61 rotate in the opposite direction through the reverse rotation of the first synchronous pulley 54 and the conveyor belt a between the first synchronous pulley 54 and the second synchronous pulley 62.

[0022] The shifting assembly 5 can also adopt a parallel gear transmission. The parallel gear transmission structure is formed by a combination of a left shaft A, a right shaft B, a sliding shaft C, and a central shaft D. The function of the left shaft A is the same as that of the first main shaft 51 mentioned above. An upper input gear A1 and a lower input gear A2 are symmetrically fixed on the left shaft A. A reversing gear D1 that can mesh with the lower input gear A2 is loosely fitted on the central shaft D. A central gear C1 that can mesh with both the upper input gear A1 and the lower input gear A2 and can rotate synchronously with the sliding shaft C is slidably fitted on the sliding shaft C. An output gear B1 is loosely fitted on the right shaft B. When the central gear C1 slides on the sliding shaft C, the central gear C1 always meshes with the output gear B1. A first synchronous pulley 54 that can rotate synchronously with the rotation of the output gear B1 is fixedly fitted on the output gear B1. The first synchronous pulley 54 is transmitted to the second synchronous pulley 62 mentioned above through a transmission belt. When the intermediate gear C1 meshes with the upper input gear A1, the upper output gear B1A1, intermediate gear C1, and output gear B1 form a transmission mesh. As the left shaft A rotates, the upper output gear B1A1 drives the intermediate gear C1 to rotate in the opposite direction to the upper output gear B1A1. The rotation of the intermediate gear C1 drives the output gear B1 to rotate in the opposite direction to the intermediate gear C1. At this time, the rotation direction of the upper input gear A1, after being transmitted by the intermediate gear C1, is consistent with the rotation direction of the output gear B1. The first synchronous pulley 54 drives the second synchronous pulley 62 to rotate in the same direction as the upper input gear A1. At this time, the rotation direction of the second main shaft 61 is consistent with the rotation direction of the first main shaft 51, and the second main shaft 61 and the first main shaft 51 form a left-right follow-up motion mode. When the intermediate gear C1 meshes with the lower input gear A2, the lower output gear B1A2, intermediate gear C1, and reversing gear D1 mesh with the output gear B1. As the left shaft A rotates, the lower output gear B1A2 drives the reversing gear D1 to rotate in the opposite direction to the rotation of the lower output gear B1A2. The rotation of the reversing gear D1 drives the intermediate gear C1 to rotate in the opposite direction to the rotation of the reversing gear D1. The rotation of the intermediate gear C1 drives the output gear B1 to rotate in the opposite direction to the rotation of the intermediate gear C1. At this time, the rotation direction of the output gear B1, after being transmitted by the reversing gear D1 and the intermediate gear C1, is opposite to the rotation direction of the lower input gear A2. The first synchronous pulley 54 drives the second synchronous pulley 62 to rotate in the opposite direction to the rotation of the upper input gear A1. At this time, the rotation direction of the second main shaft 61 is opposite to the rotation direction of the first main shaft 51. The second main shaft 61 and the first main shaft 51 form a mirror motion mode.

[0023] The aforementioned sliding turntable 55 and the intermediate gear C1 are slidably mounted on the first main shaft 51 and the left shaft A via a spline structure. The spline structure is existing technology and will not be described in detail here.

[0024] The drive assembly 7 includes a drive base 71, a lead screw 72 rotatably mounted on the drive base 71, guide rods 73 parallel to the lead screw 72 on both sides of the lead screw 72, a fixing block 74 threaded to the lead screw 72 and slidably mounted to the guide rods 73, a shift fork block 75 fixedly mounted on the fixing block 74 and used to drive the sliding turntable 55 to slide on the first main shaft 51, and a drive device 76 for driving the lead screw 72 to rotate. The first main shaft 51 is provided with multiple correspondingly arranged synchronous gears 52, reversing gears 53, a first synchronous pulley 54, a sliding turntable 55, and a reversing gear 56. The shift fork block 75 is provided with... Multiple sliding turntables 55 are provided corresponding to each other. The side wall of the sliding turntable 55 is provided with a groove 553 extending along the contour direction of the sliding turntable 55. The shift fork block 75 is provided with a shift fork head 751 that can be inserted into the groove 553. A cam follower b53 is provided between the shift fork head 751 and the groove 553. The shift fork head 751 and the groove 553 form a sliding engagement under the action of the cam follower b. The sliding turntable 55 slides on the first main shaft 51 through the rotation drive of the lead screw 72 by the drive device 76, the thread engagement between the fixed block 74 and the lead screw 72, the sliding engagement between the fixed block 74 and the guide rod 73, and the engagement with the shift fork block 75.

[0025] The parallel mechanism module 1 includes a first kinematic chain, a second kinematic chain, and a third kinematic chain. Each of the first kinematic chain, the second kinematic chain, and the third kinematic chain has a first connector 11, a second connector 12, and a third connector 13. One end of the first connector 11 is rotatably mounted on the base platform 2. One end of the second connector 12 is rotatably connected to the other end of the first connector 11. The other end of the second connector 12 is rotatably connected to one end of the third connector 13. The other end of the third connector 13 is rotatably connected to the movable platform 3.

[0026] First rotating connectors 8 are provided on one end of the first connector 11 and the second connector 12 that are rotatably connected, and on one end of the third connector 13 that is rotatably connected to the second connector 12. Second rotating connectors 9 that can be rotatably connected to the first rotating connectors 8 are provided on both ends of the third connector 13. The first connector 11, the second connector 12 and the third connector 13 are rotatably connected in sequence through the rotational connection of the first rotating connectors 8 and the second rotating connectors 9.

[0027] The first connector 11 is fixedly provided with a protrusion on one end of the base platform 2. The base platform 2 is provided with a groove that can be inserted and rotated with the protrusion. The first connector 11 is fixedly provided on the base platform 2 through the insertion and engagement of the protrusion and the groove.

[0028] The movable platform 3 is provided with a drive assembly 7, which includes a support base 101 disposed on the movable platform 3, an arm support block 102 fixedly disposed on the support base 101, and a handle 103 fixedly disposed on the third connector 13.

[0029] The working principle of this utility model is as follows: The drive device 76 drives the lead screw 72 to rotate. The fixed block 74 moves on the lead screw 72 through the threaded engagement with the lead screw 72 and the sliding engagement with the guide rod 73. The moving fixed block 74 drives the shift fork block 75 to drive the sliding turntable 55 to move towards the synchronous gear 52. After the sliding turntable 55 moves, it drives the first locking block 551 to form an insertion engagement with the locking groove on the synchronous gear 52. When the first locking block 551 forms an insertion engagement with the locking groove on the synchronous gear 52, the second locking block 552 disengages from the locking groove on the reversing gear 53. When the first main shaft 51 is manually driven to rotate, the rotating first main shaft 51 drives the sliding turntable 55 to follow. Then, the sliding turntable 55 drives the synchronous gear 52, which is in a plug-in engagement, to rotate in the same direction as the first main shaft 51. The rotating synchronous gear 52 drives the first synchronous pulley 54 to rotate. The first synchronous pulley 54 transmits the rotation to the second synchronous pulley 62 of the second main shaft 61 through the conveyor belt a. The second synchronous pulley 62 drives the second main shaft 61 to rotate in the same direction as the first main shaft 51. At this time, a left and right following mode is formed. The drive device 76 drives the lead screw 72 to rotate. The fixed block 74 moves on the lead screw 72 through the threaded engagement with the lead screw 72 and the sliding engagement with the guide rod 73. The moving fixed block 74 drives the shift fork block 75 to drive the sliding turntable 55 to move towards the reverse gear 53. After the sliding turntable 55 moves, it drives the second locking block 552 to form an insertion engagement with the locking groove on the reverse gear 53. When the second locking block 552 forms an insertion engagement with the locking groove on the reverse gear 53, the first locking block 551 disengages from the locking groove on the synchronous gear 52. The first main shaft 51 is then manually driven to rotate. The rotating first main shaft 51 drives the sliding turntable 55 to follow, and then the sliding turntable 55 drives the reverse gear 53, which has formed an insertion engagement, to engage with the first main shaft 53. The rotation of shaft 51 is in the same direction as the rotation of the first main shaft 51. The rotating reverse gear 53 drives the reversing gear 56, which meshes with it, to rotate. After the reversing gear 56 rotates, it drives the synchronous gear 52 to rotate in the opposite direction to the first main shaft 51. Since the synchronous gear 52 is in an unloaded state at this time, the rotation of the synchronous gear 52 will not affect the rotation of the first main shaft 51. The synchronous gear 52 drives the first synchronous pulley 54 to rotate. The first synchronous pulley 54 transmits the rotation to the second synchronous pulley 62 of the second main shaft 61 through the conveyor belt a. The second synchronous pulley 62 drives the second main shaft 61 to rotate in the opposite direction to the first main shaft 51. The rotation directions of the first main shaft 51 and the second main shaft 61 are opposite, thus forming a mirror motion mode. When driving the first spindle 51 to rotate, a person needs to hold the handle 103 in the drive assembly 7 to drive the first spindle 51 to rotate.

[0030] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A wrist joint rehabilitation robot with gear shifting; characterized in that: The system has a pair of parallel mechanism modules (1) arranged symmetrically on the left and right, a pair of base platforms (2) arranged symmetrically on the left and right, and a pair of movable platforms (3) arranged symmetrically on the left and right. Each spherical parallel mechanism module (1) is configured to correspond to a base platform (2) and a movable platform (3). Each movable platform (3) is configured to rotate and translate within the working space of the corresponding parallel mechanism module (1). The system also has a pair of support frames (4) arranged symmetrically on the left and right, and each base platform (2) corresponds to a support frame (4). The base platform (2) is rotatably mounted on the upper end of the support frame (4). One of the support frames (4) is also provided with a shifting component (5), and the other support frame (4) is provided with a driven component (6) that can cooperate with the shifting component (5). The parallel mechanism module (1) arranged symmetrically on the left and right switches between a left-right follow-up mode and a mirror motion mode under the action of the shifting component (5) and the driven component (6). The system also has a drive component (7) for driving the shifting component (5) to shift gears.

2. The wrist joint rehabilitation robot with shifting mechanism according to claim 1, characterized in that: Each support frame (4) is provided with an installation space for a shifting assembly (5) or a driven assembly (6). The shifting assembly (5) includes a first main shaft (51) rotatably disposed in the installation space, a synchronous gear (52) loosely fitted on the first main shaft (51), a reverse gear (53) loosely fitted on the first main shaft (51), a first synchronous pulley (54) fixedly disposed on the reverse gear (53), a sliding turntable (55) slidably disposed on the first main shaft (51) and capable of rotating synchronously with the first main shaft (51), and a reversing gear (56) rotatably disposed on the support frame (4). The driven assembly (6) includes a second main shaft (61) rotatably disposed in the installation space and a second synchronous pulley (62) fixedly disposed on the second main shaft (61). The first synchronous pulley (54) and the second synchronous pulley (62) are correspondingly disposed, and a conveyor belt (a) capable of simultaneously acting on the first synchronous pulley (54) and the second synchronous pulley (62) is also provided. The support base (101) is provided with through holes for the first spindle (51) and the second spindle (61) to pass through. One end of the first spindle (51) and the second spindle (61) are fixedly connected to the base platform (2) on the corresponding support frame (4) after passing through the corresponding through holes. The other end of the first spindle (51) and the second spindle (61) are rotatably set on the corresponding support base (101). One end of the first spindle (51) and the second spindle (61) are fixedly connected to the corresponding base platform (2) through the through holes respectively. The reversing gear (56) is provided with a first rack (561), and the synchronizing gear (52) and the reversing gear (53) are arranged opposite to each other. On the opposite side of the synchronizing gear (52) and the reversing gear (53), there is a second rack (57) that can mesh with the first rack (561) on the reversing gear (56). On the opposite side of the synchronizing gear (52) and the reversing gear (53), there is also a slot. Between the synchronizing gear (52) and the reversing gear (53), there is a space for a sliding turntable (55) to slide within. The sliding space, the sliding turntable (55) is fixedly provided with a first locking block (551) and a second locking block (552) that can respectively form a plug-in engagement with the slots on the synchronous gear (52) and the slots on the reverse gear (53); when the first locking block (551) forms a plug-in engagement with the slot on the synchronous gear (52), the second locking block (552) disengages from the slot on the reverse gear (53), and the first synchronous pulley (54) is connected to the first main shaft through the plug-in engagement of the first locking block (551) with the slot on the synchronous gear (52). The rotation of 51) forms a rotation in the same direction. The first main shaft (51) and the second main shaft (61) rotate in the same direction through the rotation of the first synchronous pulley (54) and the first main shaft (51) and the action of the conveyor belt (a) between the first synchronous pulley (54) and the second synchronous pulley (62). When the first locking block (551) is engaged with the slot on the reverse gear, the second locking block (552) disengages from the slot on the synchronous gear (52). The first synchronous pulley (54) rotates in the same direction through the first locking block (551) and the reverse gear. The insertion and engagement of the slot on the gear (53), the meshing transmission of the rack on the reverse gear (53) and the rack on the reversing gear (56), and the meshing transmission of the rack on the reversing gear (56) and the synchronous gear (52) form a reverse rotation with the rotation of the first main shaft (51). The first main shaft (51) and the second main shaft (61) form a reverse rotation through the reverse rotation of the first main shaft (51) and the first synchronous pulley (54) and the action of the conveyor belt (a) between the first synchronous pulley (54) and the second synchronous pulley (62).

3. The wrist joint rehabilitation robot with shifting mechanism according to claim 2, characterized in that: The drive assembly (7) includes a drive base (71), a lead screw (72) rotatably mounted on the drive base (71), and guide rods (73) parallel to the lead screw (72) on both sides of the lead screw (72), a fixed block (74) threaded to the lead screw (72) and slidingly mounted to the guide rods (73), a shift fork block (75) fixedly mounted on the fixed block (74) and used to drive the sliding turntable (55) to slide on the first main shaft (51), and a drive device (76) for driving the lead screw (72) to rotate. The first main shaft (51) is provided with a plurality of correspondingly arranged synchronous gears (52), reverse gears (53), a first synchronous pulley (54), a sliding turntable (55), and a reversing gear (56). The shift fork block (75) The sliding turntable (55) is provided with multiple slots (553) that are corresponding to the sliding turntable (55). The side wall of the sliding turntable (55) is provided with slots (553) that extend along the contour direction of the sliding turntable (55). The shift fork block (75) is provided with a shift fork head (751) that can be inserted into the slot (553). A cam follower (b) is provided between the shift fork head (751) and the slot (553). The shift fork head (751) and the slot (553) form a sliding fit under the action of the cam follower (b). The sliding turntable (55) slides on the first main shaft (51) through the rotation drive of the lead screw (72) by the drive device (76), the threaded fit between the fixed block (74) and the lead screw (72), the sliding fit between the fixed block (74) and the guide rod (73), and the fit with the shift fork block (75).

4. The wrist joint rehabilitation robot with shifting mechanism according to claim 1, characterized in that: The parallel mechanism module (1) includes a first kinematic chain, a second kinematic chain and a third kinematic chain. The first kinematic chain, the second kinematic chain and the third kinematic chain each have a first connector (11), a second connector (12) and a third connector (13). One end of the first connector (11) is rotatably mounted on the base platform (2). One end of the second connector (12) is rotatably connected to the other end of the first connector (11). The other end of the second connector (12) is rotatably connected to one end of the third connector (13). The other end of the third connector (13) is rotatably connected to the movable platform (3).

5. A wrist joint rehabilitation robot with shifting mechanism according to claim 4, characterized in that: The first connecting member (11) and the second connecting member (12) are rotatably connected at one end, and the third connecting member (13) is rotatably connected to the second connecting member (12) at one end. The third connecting member (13) is provided with a second rotating connecting member (9) at both ends, which can be rotatably connected with the first rotating connecting member (8). The first connecting member (11), the second connecting member (12) and the third connecting member (13) are rotatably connected in sequence through the rotational connection of the first rotating connecting member (8) and the second rotating connecting member (9).

6. A wrist joint rehabilitation robot with shifting mechanism according to claim 4, characterized in that: The first connector (11) is fixedly provided with a protrusion on one end of the base platform (2). The base platform (2) is provided with a groove that can be inserted and rotated with the protrusion. The first connector (11) is fixedly provided on the base platform (2) through the insertion and engagement of the protrusion and the groove.

7. A wrist joint rehabilitation robot with shifting mechanism according to claim 1, characterized in that: The movable platform (3) is provided with an adjustment component (10), and the drive component (7) includes a support base (101) provided on the movable platform (3), an arm support block (102) fixedly provided on the support base (101), and a handle (103) fixedly provided on the third connector (13).

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