CN101288620B - Three-degree-of-freedom shoulder and elbow joint force feedback rehabilitation robot - Google Patents

Abstract

The invention provides a three-degree-of-freedom shoulder and elbow joint force feedback rehabilitation robot. It includes a base, a straight motor installed on the base, a rotary motor support installed on the straight motor, a rotary motor installed in the rotary motor support, a pitch motor support connected to the rotary motor, and a pitch motor mounted on the The pitching motor on the support, the pitching motor is connected to the cantilever shaft through the small gear and the large gear, the cantilever is installed on the cantilever shaft, and the cantilever on one side of the cantilever shaft is equipped with a linear guide rail, a ball screw, a cantilever motor, and a screw nut , a handle, and a counterweight is set on the cantilever on the other side of the cantilever shaft. The main features of the present invention are that single-joint exercise training and double-joint compound exercise training can be performed on the shoulder and elbow joints respectively; the space for shoulder joint exercise training is increased; the number of degrees of freedom that can be trained is large; the control algorithm is simple; powerful feedback enables The movement is more accurate and reliable, and at the same time, it can provide terminal mechanical information detection.

Description

Three-degree-of-freedom shoulder and elbow joint force feedback rehabilitation robot

(1) Technical field

The invention relates to a robot, in particular to a robot for assisting shoulder and elbow joints of hemiplegia patients in rehabilitation training.

(2) Background technology

According to relevant data, the annual incidence rate of cerebrovascular patients in my country is 2 million per 100,000 people, and the annual new cases are more than 1.5 million, causing economic losses to the country of more than 10 billion per year. It goes without saying that hemiplegia brings a heavy economic burden to the society and family, and seriously affects the quality of life of patients.

The process of neurorehabilitation treatment is a hard work, mainly relying on rehabilitation physicians to perform one-on-one manual operations on patients. Robotics has strong advantages in labor saving, precise control of movement, recording of relevant parameters, and providing different training strategies for different actual situations.

The characteristics of the rehabilitation robots currently on the market are: they are mainly used for single-joint rehabilitation training, the number of degrees of freedom is small, the movement space is not large, and they lack mechanical testing. According to the current situation, a new type of upper limb rehabilitation training robot has been developed, which can meet the further clinical requirements.

(3) Contents of the invention

The purpose of the present invention is to provide a single-joint exercise training for the shoulder and elbow joints, and double-joint compound exercise training; the shoulder joint exercise training space is large; the number of degrees of freedom can be trained is large; the movement is more accurate and reliable At the same time, it can provide a three-degree-of-freedom shoulder and elbow joint force feedback rehabilitation robot for terminal mechanical information detection.

The purpose of the present invention is achieved like this:

It includes a base 1, a straight motor 2 installed on the base 1, a rotary motor support 4 installed on the straight motor 2, a rotary motor 3 installed in the rotary motor support 4, and a pitch motor connected to the rotary motor 3. Bearing 7, the pitch motor 17 that is installed on the pitch motor support 7, pitch motor 17 drives bull gear 18 through pinion 8, and bull gear 18 connects cantilever shaft 19, and cantilever 9 is installed on the cantilever shaft 19, and cantilever The cantilever 9 on one side of the rotating shaft 19 is provided with a linear guide rail 20, a ball screw 21, a cantilever motor 10 connected to one end of the ball screw 21, a screw nut 12 that cooperates with the ball screw 21 and can move along the linear guide 20 1. The handle 13 that is arranged on the lead screw nut 12, and the counterweight 16 is arranged on the cantilever 9 on the other side of the cantilever rotating shaft 19.

The present invention may also include:

1. The cantilever 9 also has a horizontal handle 23 arranged on the guide rail through a linear bearing pair 24, and a spring 22 on the guide rail.

2. The handle 13 and the horizontal handle 23 are provided with a force sensor 14 .

The present invention provides a robot for rehabilitation training of shoulder and elbow joints. Its main feature is that it can perform single-joint exercise training and double-joint compound exercise training for shoulder and elbow joints respectively; the space for shoulder joint exercise training is increased. ; The number of trainable degrees of freedom is large; the control algorithm is simple; the powerful feedback makes the movement more accurate and reliable, and can provide terminal mechanical information detection.

Wherein the cantilever 9 carries the patient's upper limbs, and the palm is fixed or held on the handle 13 . The straight motor 2 moves up and down in the vertical direction for adjusting the height of the shoulder joint. The drive of the rotary motor 3 can make the cantilever 9 rotate in the horizontal plane, so that the upper limbs can complete the arc track training. The pitching motor 17 drives the pinion and the bull gear, so that the cantilever 9 carries the patient's upper limbs to complete the shoulder joint pitching training. The cantilever motor 10 drives the ball screw 21 to drive the handle 13 through the screw nut 12 to complete the training of upper limbs along the straight track. The counterweight 16 is used to balance the weight carried by the front end of the cantilever 9 to keep it balanced. In addition, when the affected limb has a certain autonomy, the horizontal handle 23 can be used to train along a straight line through the linear bearing pair 24 . Both the handle 13 and the horizontal handle 23 are equipped with a force sensor 14, and the feedback of the sensor will make the motor output force control more accurate and safe, and the feedback information can also be used for the evaluation of rehabilitation indicators.

(4) Description of drawings

Fig. 1 is the front view of the present invention;

FIG. 2 is a top view of FIG. 1 .

(5) Specific implementation methods

The present invention is described in more detail below in conjunction with accompanying drawing example:

Combined with Figure 1 and Figure 2, the composition of the three-degree-of-freedom shoulder and elbow joint force feedback rehabilitation robot includes a base 1, a straight motor 2, a rotary motor 3, a rotary motor support 4, a coupling 5, a bearing 6, and a pitch motor Support 7, pinion 8, cantilever 9, cantilever motor 10, coupling 11, lead screw nut 12, handle 13, force sensor 14, lock nut 15, counterweight 16, pitch motor 17, large gear 18, Cantilever rotating shaft 19, linear guide rail 20, ball screw 21, spring 22, horizontal handle 23, linear bearing pair 24, rotating shaft bearing seat 25, cylindrical pin 26.

The straight motor 2 is fixed on the base 1 by bolts, and the rotary motor support 4 is fixed on the output end of the straight motor 2 by bolts. The rotary motor 3 is fixed on the rotary motor support 4, and it drives the pitch motor support 7 through a shaft coupling 5 and a bearing 6, and the bearing 6 is installed on the rotary motor support 4. The pitch motor 17 is fixed on the pitch motor support 7 by bolts, the pitch motor 17 drives the pinion 8 to transmit through the bull gear 18, and the bull gear 18 drives the rotating shaft to rotate, and the bull gear 18 links to each other with the cantilever shaft 19 by a key. The cantilever rotating shaft 19 is installed on the rotating shaft bearing block 25, and it is connected with the cantilever 9 by two cylindrical pins, and the gear wheel 18 drives the cantilever rotating shaft 19 to rotate so that the cantilever 9 completes the pitching action. The cantilever motor 10 is installed on the cantilever 9, and it drives the ball screw 21 through the coupling 11 to make the screw nut 12 drive the handle 13 to move along the linear guide rail 20. Two force sensors 14 are installed in the handle 13 and the horizontal handle 23 respectively, and the two handles are respectively fixed on the lead screw nut 12 and the linear bearing pair 24 . The linear bearing pair 24 and the driving ball screw 21 are all installed on the support of the cantilever 9, and the spring 22 is installed on the linear bearing pair 24, and the two ends are respectively fixed with the contact surface. The counterweight 16 is installed at the end of the cantilever 9 and is locked with a lock nut 15. The counterweight 16 is used to balance the left side of the cantilever 9 and the weight it carries.

Claims (4)

1. three freedom shoulder, elbow joint force feedback type healing robot, it is characterized in that: it comprises base [1], be installed in the craspedodrome motor [2] on the base [1], be installed in the turning motor bearing [4] on the craspedodrome motor [2], be installed in the turning motor [3] in the turning motor bearing [4], what link to each other with turning motor [3] faces upward the motor bearing [7] of bowing, be installed in to face upward and face upward the motor of bowing [17] on the motor bearing [7] of bowing, face upward the motor of bowing [17] and drive gear wheel [18] by pinion [8], gear wheel [18] connects cantilever rotating shaft [19], cantilever [9] is installed in the cantilever rotating shaft [19], the cantilever [9] of cantilever rotating shaft [19] one sides is provided with line slideway [20], ball-screw [21], be connected in the cantalever motor [10] of ball-screw [21] one ends, the feed screw nut [12] that matches with ball-screw [21] and can move along line slideway [20], be arranged at the handle [13] on the feed screw nut [12], on the cantilever [9] of cantilever rotating shaft [19] opposite side counterweight [16] be set.

2. three freedom shoulder according to claim 1, elbow joint force feedback type healing robot is characterized in that: also have on the cantilever [9] by linear bearing pair [24] and be arranged at horizontal hand grip [23] on the guide rail, guide rail upper spring [22].

3. three freedom shoulder according to claim 1, elbow joint force feedback type healing robot is characterized in that: handle [13] is provided with force transducer [14].

4. three freedom shoulder according to claim 2, elbow joint force feedback type healing robot is characterized in that: horizontal hand grip [23] is provided with force transducer.

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