CN104473752B - A kind of exercising apparatus for recovery of upper limb based on grouping couple drive - Google Patents

Abstract

The invention discloses a kind of exercising apparatus for recovery of upper limb based on grouping couple drive, comprise shoulder Three Degree Of Freedom adaptive mechanism, the first coupled motions mechanism, shoulder coupling assembling, the second coupled motions mechanism and wrist two degrees of freedom adaptive mechanism, first coupled motions mechanism is fixedly connected on shoulder Three Degree Of Freedom adaptive mechanism, shoulder coupling assembling is rotatably connected in the first coupled motions mechanism, second coupled motions mechanism is fixedly connected with shoulder coupling assembling, and wrist two degrees of freedom adaptive mechanism is fixedly connected with the second coupled motions mechanism.The present invention can according to the suffering limb size of different patient and concrete service condition, adjust adaptively, can cooperation between human body and mechanism, human comfort and safety coefficient are obtained for great raising, the submissive transmission of each motion, cooperation, make the described exercising apparatus for recovery of upper limb based on grouping couple drive can complete the main passive exercise action of Various Complex.

Description

An upper limb rehabilitation training device based on group coupling drive

technical field

The invention belongs to the field of rehabilitation medical equipment, and more specifically relates to an upper limb rehabilitation training device based on group coupling drive.

Background technique

Today, with the rapid development of science and technology and the general improvement of people's living standards, some groups still suffer physically and mentally due to problems such as limb motor dysfunction. There are many reasons for human limb movement dysfunction, such as industrial production accidents, traffic accidents and other accidents, stroke, hemiplegia and other diseases, as well as the inconvenience and slowness of movement caused by human aging. Most of these limb movement dysfunction patients cannot take care of themselves , has caused a heavy blow to the physical and mental health of patients, and has also caused a great impact and burden on social development. In this context, the development and production of rehabilitation devices came into being and became an important branch in the field of medical equipment.

At present, rehabilitation robots have been widely used in artificial limbs, rehabilitation nursing and rehabilitation treatment, which not only promotes the development of rehabilitation medicine, but also drives the development of new technologies and new theories in related fields. The upper limb is one of the important parts of the human body, connected to the chest and neck, including the shoulder, arm, elbow, forearm and hand. The coordinated movement of the entire upper limb is controlled by the shoulder joint, elbow joint and wrist joint. Most of the needs need to be realized through the movements of the upper limbs, so the development and production of upper limb rehabilitation devices are particularly important.

The present invention designs a kind of exoskeleton-type upper limb rehabilitation training device, which is different from the existing end-guided upper limb rehabilitation robot. Assisting the affected limb in rehabilitation training. Compared with the end-guided robot, the exoskeleton robot mechanism is more flexible and ingenious, occupies a small space, and has better compliance. It solves the problem of the end-guided robot. A dedicated space venue is not suitable for family use and other issues.

As an exoskeleton upper limb rehabilitation training device that is in direct contact with the human body, it is necessary to consider the physiological structure of the human upper limb and the characteristics of its movement mode. On the one hand, the movement of the upper limbs of the human body is relatively complex and has many degrees of freedom. How to reasonably drive and control the movement of each joint mechanism so that the movement can be transmitted in a coordinated manner and the target kinetic energy can be realized is particularly important; During effective training, it is required that the working space of the device is consistent with the natural activity space of the human limbs, so that the device will not cause damage to human tissues; moreover, the device is required to be able to adapt to the size of the affected limbs of different patients, and its body structure is suitable for rehabilitation training. It cannot interfere with the patient, so it is necessary to add corresponding adjustable and adaptive mechanisms.

If it involves the movement of the shoulder joint, elbow joint and wrist joint, including five active degrees of freedom and five adaptive passive degrees of freedom, the active degrees of freedom need to provide power drive, most of the robotic arms today use a free This not only increases the complexity of the control, but also makes the overall mechanism relatively cumbersome, requiring more raw materials and higher cost.

Contents of the invention

Aiming at the above defects or improvement needs of the prior art, the present invention provides an upper limb rehabilitation training device based on group coupling drive, which adopts group coupling drive and only uses two drives to realize the movement of five degrees of freedom. There are great advantages in terms of cost, energy saving, weight reduction, and enhanced compliance.

In order to achieve the above object, according to one aspect of the present invention, an upper limb rehabilitation training device based on group coupling drive is provided, including a shoulder three-degree-of-freedom adaptive mechanism, a first coupling motion mechanism, a shoulder connection assembly, a second coupling The kinematic mechanism and the two-degree-of-freedom adaptive mechanism of the wrist, the first coupled kinematic mechanism is fixedly connected to the three-degree-of-freedom adaptive mechanism of the shoulder, and the shoulder connection component is rotatably connected to the first coupled kinematic mechanism. The second coupling motion mechanism is fixedly connected to the shoulder connection assembly, the wrist two-degree-of-freedom adaptive mechanism is fixedly connected to the second coupling motion mechanism, and the shoulder three-degree-of-freedom adaptive mechanism includes a substrate, on which A Z-axis guide rail is provided, and a Z-axis slider is slidably connected to the Z-axis guide rail. A first connecting seat is installed on the Z-axis slider, and a Y-axis guide rail is installed on the first connecting seat. A Y-axis slider is slidably connected to the Y-axis guide rail, and a second connection seat is installed on the Y-axis slider, and an X-axis slider is installed on the second connection seat, and the X-axis slider is slidably connected There is an X-axis guide rail, which is fixedly connected to the first coupling kinematic mechanism.

Preferably, the first coupled motion mechanism includes a first shoulder component and a second shoulder component that is relatively rotatable with the first shoulder component, wherein the first shoulder component is provided with a first disc Assemblies, the second disk assembly is provided with a second disk assembly, and the first disk assembly and the second disk assembly are connected by ropes, and the first disk assembly can rotate in the first direction The rotation of the rotatable part of the second disc assembly can drive the rotation of the second shoulder assembly relative to the first shoulder assembly, thereby exerting a force on the rope, and then driving the rotatable part on the second disc assembly. Rotation in two directions, so as to realize multi-degree-of-freedom coupling motion.

Preferably, said first disc assembly comprises a second shoulder disc, a third shoulder disc and a first shoulder disc as a rotatable member thereon, the first shoulder disc, the second shoulder disc The disc and the third shoulder disc are coaxially sleeved on a shoulder vertical shaft, wherein the first shoulder disc is power connected with the first drive motor, and can be connected to the shoulder under the action of the first drive motor. The upper vertical shaft rotates synchronously, the second shoulder disc and the third shoulder disc are parallel and fixedly connected as a whole during the use of the device, and the first part of the rope connected to the second disc assembly end and second end are respectively fixed on the second shoulder disc and the third shoulder disc; The outer circumferential surface of the upper disc and then tightened, so that the first disc assembly is connected with the second disc assembly; the rotation of the first shoulder disc drives the second shoulder assembly relative to the first shoulder a shoulder assembly rotates to move said second disk assembly relative to said second and third shoulder disks such that both ends thereof are fixed to said second and third shoulder disks. The ropes of the three shoulder discs are tensioned at one end and loosened at the other end, thereby creating a counter-pull which causes the fourth shoulder disc, looped over the rope, to rotate about its central axis.

Preferably, a fifth shoulder disc is fixedly connected to the fourth shoulder disc, and a third counterweight assembly is connected to the fifth shoulder disc for reducing the output torque of the first driving motor.

Preferably, the shoulder three-degree-of-freedom adaptive mechanism is connected with a first weight assembly and a second weight assembly for balancing the weight of the training device.

Preferably, the second coupled motion mechanism includes a third shoulder assembly, an elbow assembly connected to the third shoulder assembly and a wrist assembly connected to the elbow assembly, the third shoulder assembly includes a shoulder connecting seat, A shoulder rotating shaft is installed on the shoulder connection seat through a bearing, and a shoulder driving disc and a shoulder swing frame are fixedly installed on the shoulder rotating shaft, and the shoulder driving disc is driven to rotate by a second driving motor, and the elbow The assembly is installed on the shoulder swing frame, and the elbow assembly includes an elbow connecting seat fixedly connected to the shoulder swing frame, an elbow rotating shaft fixedly installed on the elbow connecting seat and an elbow mounted on the elbow rotating shaft through a bearing. The head drives the disc, and the shoulder fixed disc is fixedly installed on the shoulder connecting seat. The shoulder fixed disc and the elbow drive disc are connected by rope a and rope b, and the rotation of the shoulder drive disc drives the shoulder swing frame. Swing with the elbow connecting seat, so that the rope a is loose and the rope b is tense, and the rope a and the rope b are pulled to make the elbow drive disc realize the same rotation of the elbow drive disc and the shoulder drive disc.

Preferably, an elbow swing frame is fixedly installed on the elbow drive disc, the elbow swing frame is mounted on the elbow shaft through a bearing, the wrist assembly is mounted on the elbow swing frame, and the elbow connecting seat An elbow fixed disc is fixedly installed, and the wrist assembly includes an arc-shaped guide rail slider installed on the elbow swing frame, an arc-shaped guide rail that can move relative to the arc-shaped guide rail slider, and an arc fixed to it. Guide rail connectors and arc guide rail accessories, guide wheel set a and guide wheel set b are installed on the elbow swing frame, guide wheel set a and guide wheel set b are set at least two, and the axis of guide wheel set a is set horizontally , the axis of the guide wheel group b is set vertically, the fixed disc at the elbow is connected with the arc guide rail fitting through the rope c and the rope d, the central axis of the arc guide rail fitting is set vertically, and the rope c is guided from one side The wheel set a and the guide wheel set b are bypassed and connected to one end of the arc-shaped guide rail accessory, and the rope d is connected to the other end of the arc-shaped guide rail accessory after passing around the guide wheel set a and guide wheel set b on the other side, and the elbow is driven The rotation of the disk drives the swinging frame of the elbow, so that the rope c is loose and the rope d is tensioned, and the rope c and the rope d are pulled to make the arc guide rail fitting rotate around its vertical central axis.

Preferably, an arc-shaped guide rail slider is installed on the elbow swing frame, an arc-shaped guide rail is installed on the arc-shaped guide rail slider, and the arc-shaped guide rail is fixedly connected to the arc-shaped guide rail accessories through an arc-shaped guide rail connector .

Preferably, a counterweight disc is fixedly connected to the shoulder driving disc, and a fourth counterweight assembly is connected to the counterweight disc for reducing the output torque of the second driving motor.

Preferably, the wrist two-degree-of-freedom adaptive mechanism includes a linear guide rail assembly, and the linear guide rail assembly includes a linear guide rail slider fixedly connected to the second coupling motion mechanism, and a linear guide rail is slidably connected to the linear guide rail slider , the linear guide rail is fixedly connected with a first handle connection block, the first handle connection block is hinged with a second handle connection block through a pin shaft, and a handle is fixedly connected with the second handle connection block, The axis of the pin shaft is perpendicular to the moving direction of the linear guide rail.

Generally speaking, compared with the prior art, the above technical solution conceived by the present invention provides an upper limb rehabilitation training device based on group coupling drives. Through two groups of coupling movements, only two drives are used to realize five The movement of the active degree of freedom is difficult to achieve with the existing one-to-one drive-controlled mechanical arm structure; at the same time, the device of the present invention also has five passive degrees of freedom, which can be adjusted according to the size of the affected limb and the specific use of different patients. Adaptive adjustments are made so that the human body and the mechanism can coordinate and cooperate without interference during the use of the device. The comfort and safety factor of the human body have been greatly improved, and the movements are smoothly transmitted and coordinated. , so that the upper limb rehabilitation training device based on group coupling drive can complete a variety of complex active and passive training actions, which has high practical value and has great advantages in reducing cost, saving energy, reducing weight, and enhancing compliance. big advantage.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic structural view of the first coupling motion mechanism in the present invention after removing the first protective shell;

Fig. 3 is a structural schematic diagram of the first shoulder assembly of the first coupling motion mechanism in the present invention;

Fig. 4 is a schematic structural view of the second shoulder assembly of the first coupling motion mechanism in the present invention;

Figures 5 to 6 are structural schematic diagrams of the second coupling motion mechanism in different viewing angles in the present invention;

Fig. 7 is a schematic structural view of the third shoulder assembly of the second coupling motion mechanism in the present invention;

Fig. 8 is a structural schematic diagram of the elbow assembly of the second coupling motion mechanism in the present invention;

Fig. 9 is a structural schematic diagram of the wrist assembly of the second coupling motion mechanism in the present invention;

Fig. 10 is an enlarged view at A in Fig. 1 .

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

As shown in Figure 1, an upper limb rehabilitation training device based on group coupling drive includes a shoulder three-degree-of-freedom adaptive mechanism 600, a first coupling motion mechanism 700, a shoulder connection assembly 800, a second coupling motion mechanism 900, and a wrist A two-degree-of-freedom adaptive mechanism 1000, the first coupling motion mechanism 700 is fixedly connected to the shoulder three-degree-of-freedom adaptive mechanism 600, and the shoulder connection assembly 800 is rotatably connected to the first coupling motion mechanism 700, The second coupling motion mechanism 900 is fixedly connected to the shoulder connection assembly 800, the wrist two-degree-of-freedom adaptive mechanism 1000 is fixedly connected to the second coupling-motion mechanism 900, and the shoulder three-degree-of-freedom adaptive mechanism 600 includes A base plate 609, the base plate 609 is provided with a Z-axis guide rail 601, a Z-axis slider 602 is slidably connected to the Z-axis guide rail 601, and a first connecting seat 603 is installed on the Z-axis slider 602, so A Y-axis guide rail 604 is installed on the first connection seat 603, and a Y-axis slider 605 is slidably connected to the Y-axis guide rail 604. A second connection seat 606 is installed on the Y-axis slider 605. The second An X-axis slider 607 is installed on the connection base 606 , and an X-axis guide rail 608 is slidably connected to the X-axis slider 607 , and the X-axis guide rail 608 is fixedly connected to the first coupling motion mechanism 700 .

The X-axis direction mentioned herein refers to the left-right direction, the Y-axis direction refers to the front-rear direction, and the Z-axis direction refers to the up-down direction. The longitudinal direction of the Z-axis guide rail 601 is parallel to the Z-axis, the longitudinal direction of the Y-axis guide rail 604 is parallel to the Y-axis, and the longitudinal direction of the X-axis guide rail 608 is parallel to the X-axis.

Among them, the shoulder three-degree-of-freedom adaptive mechanism 600 and the wrist two-degree-of-freedom adaptive mechanism 1000 are passive degrees of freedom, and can be adjusted adaptively according to the specific usage conditions of different patients. The first coupling motion mechanism 700 and the second coupling motion mechanism 700 The two coupling motion mechanisms 900 are respectively driven and controlled by the first motor assembly and the second motor assembly in the chassis. Through the coupling motion, the first coupling motion mechanism 700 realizes the motion of two active degrees of freedom, and the second coupling motion mechanism 900 realizes three For the movement of the active degree of freedom, the two groups of coupled movements can be independently controlled by the corresponding motor components without interfering with each other.

In addition, the first coupled motion mechanism 700 also includes a first protective shell 701 , and the second coupled motion mechanism 900 also includes a second protective shell 901 .

The structure and function of each component will be described in detail below.

The shoulder three-degree-of-freedom adaptive mechanism 600 includes a base plate 603, a supporting shell 607, a linear slide rail support 601, a linear slide rail fixed connection seat 606, and three pairs of linear slide rail assemblies. The three pairs of linear slide rail assemblies are respectively Z-axis guide rail 601 and Z-axis slider 602 , Y-axis guide rail 604 and Y-axis slider 605 , X-axis guide rail 608 and X-axis slider 607 . Each pair of linear slide rail assemblies includes two groups. Among them, the Z-axis guide rail 601 and the Z-axis slider 602 can realize the vertical movement of the Z-axis slider 602 along the Z-axis, and the Y-axis guide rail 604 and the Y-axis slider 605 can realize the horizontal movement of the Y-axis slider 605. The forward and backward movement along the Y-axis, the X-axis guide rail 608 and the X-axis slider 607 can realize the left-right movement of the X-axis guide rail 608 along the X-axis, and because the first coupling motion mechanism 700 and the shoulder three-degree-of-freedom adaptive mechanism 600 They are fixedly connected together, so the three pairs of linear slide rail components coordinate and cooperate to move, and drive the first coupling motion mechanism 700 to complete the movement in the above three degrees of freedom, and because the first coupling motion mechanism 700 and the shoulder connection 800, the second coupling motion mechanism 900 and the wrist two-degree-of-freedom adaptive mechanism 1000 constitute the mechanical arm part of the upper limb rehabilitation training device, so the shoulder three-degree-of-freedom adaptive mechanism 600 can drive the entire mechanical arm part to perform The movement in the directions of the three degrees of freedom adaptively adjusts the position and state of the manipulator part in space, so that it can adapt to the size and use of different patients' limbs, and enhances the adaptability and coordination control ability of the device.

As shown in FIGS. 2 to 4 , the first coupled motion mechanism 700 mainly includes two major parts, the first shoulder assembly and the second shoulder assembly, wherein the driving force is provided by an external motor. The motor relies on a rope-like flexible mechanism (for example, a steel wire rope) to transmit power to the first shoulder assembly; through coupling motion, the power is transmitted to the second shoulder assembly to drive the movement of the second shoulder assembly, realizing the control of two shoulder assemblies by one motor. degrees of freedom of movement.

The first shoulder assembly includes a shoulder connector 1, a hollow steel pipe 2, a hollow steel pipe 4, a steel pipe block 25, a steel pipe block 24, a first wire rope guide sleeve 3, a second wire rope guide sleeve 5, an angle sensor 6, Shoulder disk support seat 7, wire rope buckle 8, wire rope buckle 17, wire rope buckle 12, first shoulder disk 9, shoulder steel pipe joint 10, shoulder vertical shaft 11, shoulder adapter frame 13 , the second shoulder disc 14, the third shoulder disc 15, shoulder adapter 16, shoulder bracket adapter plate 18, hollow steel pipe 20, hollow steel pipe 19, steel pipe clamping block 21, steel pipe clamping block 22.

The shoulder connector 1 is used to connect the first shoulder assembly and the external shoulder three-degree-of-freedom adaptive adjustment mechanism, which is fixed at the ends of the hollow steel pipe 2 and the hollow steel pipe 4, and the other ends of the hollow steel pipe 1 and the hollow steel pipe 4 It is fixed with the shoulder steel pipe joint 10, thereby connecting the first shoulder component with the shoulder three-degree-of-freedom self-adaptive adjustment mechanism.

Two semicircular grooves are arranged on the supporting surfaces of the steel pipe clamping block 25 and the steel pipe clamping block 24, and the steel pipe clamping block 25 and the steel pipe clamping block 24 are arranged in pairs, so that each semicircular groove is connected with the other respectively. The corresponding semicircular grooves on the steel pipe block match and form round holes, so that two round holes can be formed in the distribution direction of the hollow steel pipes for the two hollow steel pipes to pass through to fix the hollow steel pipe 1 and the hollow steel pipe 4. The spatial position ensures that it does not deform during the working process.

The disc support seat 7 on the shoulder and the adapter frame 13 on the shoulder are respectively fixed above and below the steel pipe joint 10 at the shoulder, and the vertical shaft 11 of the shoulder runs through the disc support seat 7 on the shoulder, the adapter frame 13 on the shoulder and the shoulder joint 10. The steel pipe joint 10 at the top of the shoulder is connected with the disc support seat 7 on the shoulder and the adapter frame 13 on the shoulder through the bearing, so that the vertical axis of the shoulder can be connected with the disc support seat 7 on the shoulder and the adapter frame 13 on the shoulder. relative rotation.

The first wire rope guide sleeve 3 and the second wire rope guide sleeve 5 are fixed on the shoulder disc support seat 7 for leading out the wire rope, wherein the steel wire rope is fixedly connected with the first shoulder disc 9 through the wire rope buckle 8 for driving The first shoulder disc 9 rotates. Wherein the first shoulder disc 9 is coaxially fixed on the shoulder vertical shaft 11 and can drive the shoulder vertical shaft 11 to rotate synchronously.

The steel wire rope 31 is fixedly connected with the second shoulder disk 14 through the wire rope buckle 17, and the steel wire rope 34 is fixedly connected with the third shoulder disk 15 through the steel wire rope buckle 12, and the second shoulder disk 14 is installed on the shoulder rotating disk 14. On the adapter frame 13, the second shoulder disk 14 can be adjusted to a certain angle around the central axis relative to the shoulder adapter frame 13, while the third shoulder disk 15 is connected with the second shoulder disk 14, wherein the first The three shoulder discs 15 can be adjusted to a certain angle around the central axis relative to the second shoulder disc 14, so by adjusting the second shoulder disc 14 and the third shoulder disc 15, it is possible to cope with possible steel wire rope changes. Loose question.

The shoulder adapter 16 is fixedly connected with the shoulder bracket adapter plate 18, and is fixed together with the shoulder vertical shaft 11 simultaneously, and can rotate together with the shoulder vertical shaft 11. One end of the hollow steel pipe 20 and the hollow steel pipe 19 is fixedly connected with the shoulder adapter 16, and the other end is fixedly connected with the steel pipe adapter 30, so as to connect the first shoulder assembly and the second shoulder assembly.

Similar to the structure and function of the steel pipe blocks 24 and 25, the steel pipe blocks 21 and the steel pipe blocks 22 are used to fix the spatial positions of the hollow steel pipes 20 and 19 to ensure that they do not deform during work.

The second shoulder assembly includes a guide wheel 26, a guide wheel 27, a guide wheel 29, a guide wheel 23, a support plate 28, a steel pipe adapter 30, a hollow steel pipe 35, a hollow steel pipe 36, a steel pipe block 32, and a steel pipe block 33. The fourth shoulder disk 37, the fifth shoulder disk 38, the wire rope buckle 39, the wire rope buckle 41, the shoulder rear side disk support seat 40, the shoulder rear axle 42, the wire rope guide sleeve fixing seat 43, the shoulder Department support plate 44, steel pipe joint 45, third wire rope guide sleeve 46.

Bracket backing plate 28 is fixedly connected with steel pipe adapter 30, is used for setting guide wheel 26, guide wheel 27, guide wheel 29, guide wheel 23, and wherein guide wheel 26, guide wheel 27 are respectively used for the 3rd shoulder disc 15 With the guiding effect of the steel rope 34 drawn by the second shoulder disc 14 and the steel rope 31, the trend of the steel rope 31 and the steel rope 34 on the horizontal plane is changed, and the guide wheel 29 and the guide wheel 23 are respectively used for the guiding effect of the steel rope 31 and the steel rope 34 , so that the corresponding wire rope changes from horizontal to vertical.

Hollow steel pipe 35 and hollow steel pipe 36 are vertically placed, and one end is fixed steel pipe adapter 30, and the other end is fixed steel pipe joint 45, plays the effect that connects the second shoulder assembly upper half and lower half. Wherein steel pipe block 32 and steel pipe block 33 are similar to the structure and effect of steel pipe block 24 and 25, are used for fixing the spatial position of hollow steel pipe 35, hollow steel pipe 36, guarantee that it does not deform during work.

The steel pipe joint 45 is fixedly connected with the shoulder support plate 44, wherein the shoulder support plate 44 is fixed on the shoulder rear disc support seat 40, and the shoulder rear axle 42 is connected by a bearing, and is installed on the shoulder support plate 44 and the shoulder rear side. On the disc support seat 40, the two can rotate relative to each other.

The fourth shoulder disk 37 is fixedly connected with the fifth shoulder disk 38, and the fourth shoulder disk 37 is fixedly connected with the shoulder rear axle 42 at the same time, and the three can realize synchronous rotation. The third wire rope guide sleeve 46 is used to lead out the wire rope that is fixedly connected to the fifth shoulder disc 38 through the wire rope buckle 39. The steel wire rope is used to connect the counterweight parts in the cabinet, and the third wire rope guide sleeve 46 is fixed on the wire rope guide sleeve. On the fixed seat 43, the third steel wire rope guide sleeve 46 is fixedly connected with the shoulder rear disc support seat 40, and the steel wire rope 31 and the steel wire rope 34 are fixedly connected with the fourth shoulder disc 37 through the steel wire rope buckle 41. The power is transmitted to drive the fourth shoulder disk 37 to rotate, so as to realize the transmission of motion.

For the first shoulder assembly and the second shoulder assembly, when they are in the initial movement position, the hollow steel pipe 2, the hollow steel pipe 4, the hollow steel pipe 20, and the hollow steel pipe 19 are parallel to each other, and the steel wire rope 31, The steel wire rope 34 is in a natural state without tension or relaxation.

The two sections of steel wire ropes are fixed on the first shoulder disc 9, driven by the motor, the steel wire ropes are pulled to each other, and the first shoulder disc 9 is driven to rotate, and a limit screw is installed on the first shoulder disc 9, which can The mechanical limit is realized, and the movement range is preferably 0-135°, that is, it can preferably rotate 135° counterclockwise from the initial position.

The second shoulder disk 14 is fixedly connected with the third shoulder disk 15, and is fixed on the shoulder adapter frame 13 at the same time, so as to realize coupling movement.

The steel rope 31 is fixed on the second shoulder disk 14, and the steel rope 34 is fixed on the third shoulder disk 15. Through the guiding effect of the guide wheel 26 and the guide wheel 27, the steel rope 31 and the steel rope 34 are positioned in the horizontal direction. Interchange, staggered, through the guiding effect of the guide wheel 23 and the guide wheel 29, the steel wire rope 31 and the steel wire rope 34 change from the horizontal direction to the vertical direction, and finally connect with the fourth shoulder disc 37 to realize the coupling sports.

The motor drives the first shoulder disk 9 to rotate counterclockwise, drives the shoulder vertical shaft 11 fixedly connected with the first shoulder disk 9 to rotate, and simultaneously drives the shoulder vertical shaft 11 fixedly connected to the shoulder vertical shaft 11 to rotate. The upper bracket adapter plate 18 and the shoulder adapter 16 rotate, and simultaneously drive the hollow steel pipe 20 and the hollow steel pipe 19 to rotate, and simultaneously drive the entire second shoulder assembly to rotate counterclockwise relative to the first shoulder assembly. Since the second shoulder disc 14 and the third shoulder disc 15 are fixed on the shoulder adapter frame 13, the two discs do not rotate, so that the entire second shoulder assembly is relatively stable relative to the second shoulder disc 14. and the third shoulder disc 15 rotate counterclockwise, so that the steel wire rope 31 fixed on the second shoulder disc 14 is tensed, and the steel wire rope 34 fixed on the third shoulder disc 15 relaxes simultaneously, due to the steel wire rope 31, the steel wire rope 34 is fixedly connected with the fourth shoulder disc 37, and the tensioned steel wire rope 31 and the loosened steel wire rope 34 produce a pulling effect, so that the fourth shoulder disc 37 rotates clockwise, thus realizing the coupling movement, that is, by a The motor drives the rotation of the two shoulder discs simultaneously.

The steel wire rope fixed on the fifth shoulder disc 38 is led out through the third wire rope guide sleeve 46, and is connected with the counterweight in the cabinet to balance the dead weight of the mechanical arm.

The first coupling motion mechanism 700 is fixedly connected with the shoulder three-degree-of-freedom adaptive mechanism 600 through the shoulder connector 1, wherein the wire rope derived from the cabinet is connected to the first coupling motion mechanism 700 through the first wire rope guide sleeve 3 A shoulder disc 9 is connected, and the first motor assembly in the cabinet drives the first drive disc to rotate through a wire rope, and transmits power to the first coupling motion mechanism 700. Through coupling motion, the first coupling motion mechanism 700 Output the motion of two degrees of freedom, that is, use one drive to control the motion of two degrees of freedom. The two degrees of freedom are active degrees of freedom, corresponding to the internal rotation and external rotation of the human shoulder joint and the shoulder joint. Abduction and adduction movement, the movement is coordinated freely, which meets the requirements of the physiological characteristics of human sports.

The shoulder connection assembly 800 includes a shoulder connection block 801, a shoulder connection steel pipe 802, a steel pipe clamping block 803 and a steel pipe connection block, wherein the two ends of the shoulder connection steel pipe 802 are fixed to the shoulder connection block 801 and the steel pipe connection block respectively. The steel pipe block 803 is used to fix the spatial position of the shoulder connecting the steel pipe 802 to ensure that it does not deform during the working process. The shoulder connection block 801 is fixedly connected with the shaft drawn out from the first coupling motion mechanism 700, and because the shaft is movably connected with the first coupling motion mechanism 700 through a bearing, the shoulder connection block 801 follows the shaft Rotate together relative to the first coupling motion mechanism 700, wherein the rotation center of the two coincides with the rotation center of the second active degree of freedom output by the first coupling motion mechanism 700, thereby driving the shoulder connecting block 801 to output with the first coupling motion mechanism The second active degree of freedom rotates together, and then drives the entire shoulder connection assembly 800 to rotate, and because the second coupling motion mechanism 900 is fixedly connected with the shoulder connection assembly 800, the second coupling motion mechanism 900 also rotates accordingly, Corresponds to the abduction and adduction movement of the human shoulder joint mentioned above.

As shown in FIGS. 5 to 9 , it is the initial state of the second coupled motion mechanism 900 , which includes the third shoulder assembly 100 , the elbow assembly 200 connected to the third shoulder assembly 100 and the elbow assembly 200 connected to the third shoulder assembly 100 . The wrist assembly 300 on the upper body, the third shoulder assembly 100 includes a shoulder connecting seat 101, a shoulder rotating shaft 102 is installed on the shoulder connecting seat 101 through a bearing, and a shoulder driving disc 103 and a shoulder driving disc 103 are fixedly installed on the shoulder rotating shaft 102. The shoulder swing frame 104, the shoulder driving disc 103 is driven to rotate by the second drive motor, the elbow assembly 200 is installed on the shoulder swing frame 104, and the elbow assembly 200 includes a fixed connection on the shoulder swing frame 104 Elbow connection seat 214 on the upper body, the elbow rotating shaft 202 fixedly installed on the elbow connection seat 214, the elbow driving disc 201 installed on the elbow rotating shaft 202 through bearings and the elbow driving disc 201 fixedly installed on the The elbow swing frame 203, the shoulder connecting seat 101 is fixedly equipped with a shoulder fixed disk 105, the shoulder fixed disk 105 is connected with the elbow driving disk 201 through the rope a400 and the rope b401, and the shoulder driving disk 103 The rotation of the shoulder swing frame 104 and the elbow connecting seat 214 swing, so that the rope a400 is slack and the rope b401 is tensioned, and the rope a400 and the rope b401 are pulled against each other so that the rope b401 pulls the elbow driving disc 201 to realize the elbow driving circle. Disk 201 turns to the same autorotation as shoulder drive disk 103 .

The elbow swing frame 203 is fixedly installed on the elbow driving disc 201, the elbow swing frame 203 is installed on the elbow rotating shaft 202 through a bearing, the wrist assembly 300 is installed on the elbow swing frame 203, and the elbow is connected An elbow fixed disk 204 is fixedly installed on the seat 214, and the wrist assembly 300 includes an arc-shaped guide rail slider 302 installed on the elbow swing frame 203, and an arc-shaped guide rail that can move relative to the arc-shaped guide rail slider 302. 303 and the curved guide rail connector 304 and the curved guide rail accessories 301 fixedly connected thereto, the guide wheel group a500 and the guide wheel group b501 are installed on the elbow swing frame, and the guide wheel group a500 and the guide wheel group b501 are all provided with two More than two, the axis of the guide wheel set a500 is set horizontally, the axis of the guide wheel set b501 is set vertically, the elbow fixed disc 204 is connected with the arc guide rail fitting 301 through the rope c403 and the rope d404, and the arc guide rail fitting 301 The central axis of the center axis is set vertically, the rope c403 is connected to one end of the arc guide rail fitting 301 after bypassing the guide wheel set a500 and the guide wheel set b501 on one side, and the rope d404 is passed from the guide wheel set a500 and the guide wheel set b501 on the other side After bypassing, it is connected to the other end of the arc-shaped guide rail fitting 301. The rotation of the elbow driving disc 201 drives the elbow swing frame 203 to swing, making the rope c403 loose and the rope d404 tense, and the rope c403 and rope d404 are pulled against each other to make the rope d404 pulls the arc guide rail fitting 301 to rotate around its vertical central axis.

Preferably, an arc guide rail slider 302 is installed on the elbow swing frame 203, an arc guide rail 303 is installed on the arc guide rail slider 302, and the arc guide rail 303 is connected to the arc guide rail connecting piece 304 The arc guide rail fitting 301 is fixedly connected.

The third shoulder assembly 100 mainly includes a shoulder driving disk 103, a counterweight disk 113, a rope guide sleeve a600, a rope guide sleeve b601, a rope guide sleeve c602, a shoulder connection seat 101, a shoulder shaft 102, an angle Sensor bracket 118, angle sensor 107, adjustment screw, shoulder swing frame 104, guide wheel set c503, guide wheel set d504; wherein the shoulder connection seat 101 includes shoulder connection block a116, shoulder connection block b117, shoulder connection plate 121, adjust the cover plate 120, the fixed disc 105 of the shoulder comprises the disc a105 of the shoulder, the disc b105 of the shoulder, the swinging frame of the shoulder 104 comprises the shoulder elbow connecting plate 108, the auxiliary shoulder plate 115, the shoulder connecting frame 114, the shoulder The connecting plate 121.

The elbow assembly 200 mainly includes an elbow connecting seat 214, an elbow swing frame 203, an elbow disc c211, an elbow disc d212, a guide wheel set a500, and a guide wheel set b501, wherein the elbow swing frame 203 includes an elbow joint Plate 206, elbow bracket 213, elbow-wrist connection seat 205, elbow drive disc 201 includes elbow disc a208, elbow disc b207, elbow connection seat 214 includes elbow support plate a209 and elbow support plate b210 .

The wrist assembly 300 includes an arc rail fitting 301 , an arc rail slider 302 , an arc rail 303 , and an arc rail connector 304 .

The shoulder driving disc 103 is driven by the motor through the opposite pull effect of the two external ropes, and rotates counterclockwise from the initial state. The counterclockwise rotation or swing in the first coupling motion mechanism 700 of the present invention refers to the training device in the figure. 5 shows the rotation direction of the upper part under the viewing angle. The shoulder rotating shaft 102 is fixedly connected with the shoulder driving disc 103, so the shoulder rotating shaft 102 rotates counterclockwise together with the shoulder driving disc 103, wherein the shoulder auxiliary plate 115 and the shoulder connecting plate 121 are fixed with the shoulder rotating shaft 102. Therefore, the shoulder swing frame 104 and the elbow connecting seat 214 swing counterclockwise around the axis of the shoulder shaft 102, thereby driving the entire elbow assembly 200 and wrist assembly 300 to swing counterclockwise around the axis of the shoulder shaft 102.

While the shoulder driving disc 103 rotates, the shoulder connecting block a116 and the shoulder connecting block b117 of the shoulder connecting seat 101 are fixed, so that the shoulder disc a110 and the shoulder disc fixed on it b111 is also fixed, that is, the shoulder disc a110 and the shoulder disc b111 do not rotate, and the rope a400 is fixed on the shoulder disc a110 and the elbow disc a208 through the rope block 700, and the rope b401 passes through the rope The clamping block 700 is fixed on the shoulder disc b111 and the elbow disc b207, because the elbow disc a208 and the elbow disc b207 all follow the shoulder swing frame 104 and the elbow connection seat 214 around the shoulder shaft 102 Swing counterclockwise, while the shoulder disc a110 and the shoulder disc b111 are relatively fixed, so the rope a400 is relaxed, and the rope b401 is tensioned. Through the opposite pulling effect of the rope a400 and the rope b401, the rope b401 pulls the elbow The upper disk a208 and the elbow disk b207 rotate counterclockwise relative to their own axes, thus realizing the first coupling motion. The elbow disc a208 and the elbow disc b207 rotate synchronously.

The elbow connecting plate 206 is fixedly connected with the elbow disc a208, so the elbow connecting plate 206 rotates counterclockwise around the elbow shaft 202, thereby driving the elbow bracket 213 and the entire wrist assembly 300 to rotate counterclockwise. The elbow driving disc 201 can drive the elbow swing frame 203 to swing when it rotates, that is, the elbow swing frame 203 and the elbow connecting seat 214 have relative rotation.

When the elbow swing frame 203 rotates relative to the elbow connecting seat 214, one end of the rope c403 is fixed on the elbow disc c211 through the rope block 700, and the other end is fixed on one end of the arc guide rail fitting 301 through the rope block 700. At the limit position, one end of the rope d404 is fixed on the elbow disc d212 through the rope block 700, and the other end is fixed at the limit position of the other end of the arc guide rail fitting 301 through the rope block 700. The straight axis rotates counterclockwise, and at the same time, the elbow disc c211 and the elbow disc d212 do not rotate when the elbow swing frame 203 swings, so the rope c403 is relaxed and the rope d404 is tensioned, and the opposite pulling effect makes the rope d404 pull The arc-shaped rail fitting 301 makes the arc-shaped rail fitting 301 rotate counterclockwise relative to the vertical axis to realize the second coupling movement, which can realize the circular movement of the wrist joint and drive the rotation of the palm part.

The wrist assembly 300 includes a first limit mechanism, and the first limit mechanism limits the movement range of the arc-shaped rail fitting 301 to 0-40°. As an option, the first limiting mechanism is a boss arranged on the rope block 700 on the arc-shaped guide rail fitting 301, and the boss is in contact with the guide wheel set b501, that is, the arc-shaped rail fitting 301 is blocked, thereby realizing Mechanical limit; as another option, the first limit mechanism can also be a limit screw arranged at the end of the arc guide rail fitting 301, and the contact between the protruding part of the limit screw and the elbow-wrist connection seat 205 is used to hinder the arc. The movement of the arc-shaped guide rail fitting 301 is realized to mechanically limit the arc-shaped guide rail fitting 301. In addition, the commonly-used structure of cooperating and limiting between some bosses is also applicable to the first limiting mechanism.

The third shoulder assembly 100 includes a second limit mechanism, and the second limit mechanism limits the rotation range of the shoulder driving disc 103 to 0-135°. As an option, the structure of the second limit mechanism is a limit screw arranged somewhere on the shoulder driving disc 103, and the contact between the protruding part of the limit screw and the shoulder connecting block a116 makes the shoulder drive disc The movement of 103 is hindered, thereby realizing mechanical limit; As another option, also can process a boss somewhere on the shoulder driving disk 103, process a and boss at the corresponding position of shoulder connecting piece a116 at the same time The arc-shaped groove that the platform wants to fit, the boss extends into the arc-shaped groove, and the stroke of the boss is limited by the arc-shaped groove, so as to realize the mechanical limit. In addition, the commonly-used structure of cooperating and limiting between some bosses is also applicable to the second limiting mechanism.

A mechanical limit is designed on the shoulder drive disc 103 to control its range of motion within 0-135°. Through coupling drive, the motion is transmitted to the elbow disc a208 and elbow disc b207, and its range of motion is also controlled. At 0-135°, through the second coupling drive, the motion is transmitted to the arc guide rail 303, and the motion range of the arc guide rail 303 is controlled within 0-40°.

The device of the present invention has the characteristics of being able to adapt to the size of affected limbs of different patients, mainly because the length of the shoulder swing frame 104 can be adjusted. Shoulder swing frame 104 comprises shoulder connection plate 121, adjustment cover plate 120, shoulder elbow connection plate 108 and shoulder connection frame 114, and shoulder connection plate 121 is fixedly connected on the shoulder rotating shaft 102, and adjustment cover plate 120 is fixedly connected on shoulder. On the shoulder connecting plate 121, the shoulder and elbow connecting plate 108 is vertically provided with a long hole, and a first bolt device 109 passes through the shoulder and elbow connecting plate 108 and the shoulder connecting plate 121 from the long hole, thereby connecting the shoulder and elbow connecting plate 108 and the shoulder connecting plate 121 are fixedly connected together. The first bolt device 109 adopts an adjusting screw, and the length of the third shoulder component 100 can be adjusted by adjusting the adjusting screw on the third shoulder component 100 .

A counterweight disc 113 is fixedly installed on the shoulder rotating shaft 102, and the counterweight disc 113 is connected with a counterweight through a rope e402 to reduce the output torque of the motor. The counterweight disc 113 is fixedly connected with the shoulder drive disc 103, and at the same time the counterweight disc 113 is connected with the counterweight in the chassis through ropes to balance the self-weight of the mechanical arm and reduce the output torque of the motor. When the load is relatively large, the power of the motor can be fully utilized.

Overall, the device has successfully realized the coupling drive, and a second motor controls the movement of three degrees of freedom, and the movement is coherent, flexible and ingenious. Compared with the prior art, the above technical scheme conceived by this scheme can realize the coupled movement of the shoulder and elbow joints, and has great advantages in reducing the cost, saving energy, enhancing the flexibility of the system, reducing weight, etc., and at the same time, it is safe High coefficient, compact structure, easy to wear, can realize active and passive coordinated movement, has ergonomic characteristics, the working space is consistent with the natural activity space of human limbs, can adapt to the size of affected limbs of different patients, and breaks through the traditional connection method, The coupling drive is realized, which makes each mechanism more relevant, reduces the burden on the control system, and can carry out active and passive coordination training for the shoulders in various complex training modes.

In the present invention, the driving force is provided by a motor installed in the chassis, and the motor transmits power to the third shoulder assembly 100 by means of a rope-like flexible mechanism. Through the first coupling movement, the power is transmitted to the elbow assembly 200, and then through the second In the two coupling movements, the power is transmitted to the wrist assembly 300 , and the second coupling movement only involves the circular movement of the wrist joint, which is described here under the shoulder-elbow movement. After a set of actions, a motor drives three degrees of freedom. The movements of these three degrees of freedom are: the rotation of the shoulder driving the disc 103 to realize the lifting of the entire shoulder; the swing of the elbow swing frame 203 to realize the swing of the small arm; the rotation of the arc-shaped guide rail fitting 301 around the vertical axis , to realize the rotation of the wrist.

The rope is derived from the cabinet, passes through the rope guide sleeve a600 and the rope guide sleeve b601, and the rope is guided to the shoulder driving disc 103, and is fixed on the shoulder driving disc 103 by the rope clamping block 700. The motor in the cabinet drives the rope, and the pulling effect of the rope makes the shoulder drive disc 103 rotate counterclockwise from the initial position relative to its central axis.

While the shoulder drives the disk 103 to rotate, the spatial positions of the shoulder connection block a116 and the shoulder connection block b117 do not change, that is, the two can be regarded as a fixed frame, and the shoulder disk b111 is fixed on On the shoulder connection block a116, and because the shoulder disc a110 is fixedly connected with the shoulder disc b111 during the use of the training device, the shoulder disc a110 and the shoulder disc b111 are fixed. The counterweight disc 113 is fixedly connected with the shoulder drive disc 103, so it rotates counterclockwise around the central axis, wherein the rope fixed on the counterweight disc 113 passes through the rope guide sleeve c602 to connect with the counterweight in the cabinet, It is used to balance the self-weight of the mechanical arm and reduce the output torque of the motor. When the external load is relatively large, the power of the motor can be fully utilized.

The shoulder rotating shaft 102 is fixedly connected with the shoulder driving disc 103, and is fixed on the shoulder connecting block a116 and the shoulder connecting block b117 through bearings at the same time, and can rotate relative to the two, so the shoulder rotating shaft 102 can drive the disc with the shoulder 103 rotates counterclockwise around the central axis together, wherein the shoulder auxiliary plate 115 is fixedly connected with the shoulder rotating shaft 102, so it rotates counterclockwise around the central axis of the shoulder driving disc 103 thereupon.

The angle sensor 107 is fixed on the shoulder connecting block b117 through the angle sensor bracket 118, and is connected with the shoulder rotating shaft 102 through the coupling 119, and plays the role of real-time monitoring of the angle that the shoulder drives the disc 103 to turn.

The shoulder connection plate 121, the adjustment cover plate 120, the adjustment screw, and the shoulder-elbow connection plate 108 constitute a length-adjustable mechanism. By loosening the adjusting screw, the shoulder-elbow connecting plate 108 is moved up and down to a suitable length position, and then tightening the adjusting screw to complete the adjustment of the length of the mechanism, so that the device has the characteristics of being able to adapt to the size of the affected limb of different patients. Wherein the shoulder connecting plate 121 is all fixedly connected with the shoulder auxiliary plate 115 and the shoulder rotating shaft 102, so it rotates counterclockwise around the central axis of the shoulder driving disc 103 thereupon, that is, the shoulder swing frame 104 and the elbow The connecting seat 214 swings counterclockwise, so as to drive the entire elbow assembly 200 to rotate counterclockwise around the central axis of the shoulder driving disc 103 .

The shoulder connecting frame 114 is fixed on the shoulder-elbow connecting plate 108. The shoulder swinging frame 104 is provided with a guide wheel set c503 and a guide wheel set d504. The axes of the guide wheel set c503 and the guide wheel set d504 are all arranged horizontally. And rope b401 is fixedly connected on the elbow drive disc 201 after going around from guide wheel set c503 and guide wheel set d504 respectively. The guide wheel set c503 and the guide wheel set d504 are respectively fixed on both sides of the shoulder connecting frame 114, and play the role of changing the spatial direction of the rope a400 and the rope b401.

From the point of view of the elbow assembly 200 alone, the elbow disk a208 is mounted on the elbow shaft 202 through a bearing, so the elbow disk a208 can rotate around its central axis, and because during the use of the training device, the elbow The disc b207 is fixedly connected with the elbow disc a208, so the elbow disc a208 and the elbow disc b207 can rotate relatively around their central axis synchronously.

The arc-shaped guide rail slider 302 is fixed on the elbow-wrist connecting seat 205, wherein the arc-shaped guide rail 303 and the arc-shaped guide rail slider 302 are used in conjunction. During the use of the device, the arc-shaped guide rail 303 can move around the center axis of the track relative to the slider Sliding, because the sliding of the arc-shaped guide rail 303 is used to realize the circular motion of the wrist joint, and because the radius of the track has a special industry standard, it cannot be consistent with the radius of the actual human wrist circular motion, so the present invention designs a The arc-shaped rail fitting 301 is similar in shape to the arc-shaped rail 303, and the radius of the arc-shaped rail fitting 301 strictly conforms to the radius of the actual human wrist circular motion obtained through experiments and statistics, so as to realize the circular motion of the human wrist. And because the arc guide rail connector 304 is fixed on the arc guide rail 303, and the arc guide rail accessories 301 are fixedly connected with the arc guide rail connector 304 simultaneously, so the two can rotate around the central axis of the track together with the arc guide rail 303, and Because the rope is connected to the arc-shaped guide rail fitting 301, the final turning radius is the radius of the arc-shaped guiding rail fitting 301, so that the transmission of the turning radius of the mechanism is ingeniously realized.

The fixed shoulder disc 105 includes a shoulder disc a110 and a shoulder disc b111, the shoulder disc a110 is provided with a first arc-shaped hole 106, and a second bolt device 112 is arranged to pass through the first arc-shaped hole. 106 passes through the shoulder disc a110 and the shoulder disc b111, thereby fixing the shoulder disc a110 and the shoulder disc b111 together. The second bolt device 112 is a screw, and is fixed by screwing between the shoulder disc a110 and the shoulder disc b111, and the first arc-shaped hole 106 is designed at the screw joint, so that the shoulder disc a110 and the shoulder disc b111 The relative position between the discs b111 can be adjusted, and the same design is also used for the elbow disc a208 and the elbow disc b207, so that relative movement can also occur between the elbow disc a208 and the elbow disc b207, and the device After using for a period of time, the rope a400 and the rope b401 may become loose. At this time, by adjusting the relative position between the shoulder disc a110, the shoulder disc b111, the elbow disc a208, and the elbow disc b207 position, the rope can be restored to a tensioned state, ensuring that the first coupling movement can be carried out smoothly. The elbow disc d212 and the elbow support plate b210 are fixed by screwing, and a second arc-shaped hole is designed at the screw joint, so by adjusting the elbow disc d212, the elbow connecting plate 206 and the elbow disc d212, The relative position between the two discs c211 of the elbow can make the loosened rope c403 and rope d404 restore the tensioned state again, ensuring that the second coupling movement can be carried out smoothly.

As mentioned above, during the use of this training device, it is necessary to ensure that the screws are in a tightened state. At this time, the shoulder disc a110 and the shoulder disc b111 are fixedly connected without rotation, and the shoulder drives the disc a110 and the shoulder disc. Disk b111 is fixedly connected to realize synchronous rotation; elbow disk a208 is fixedly connected to elbow disk b207 to realize synchronous rotation; elbow disk d212 is fixedly connected to elbow support plate b210, and elbow disk c211 is connected to elbow circle The disk d212 is fixedly connected, and the elbow disk c211 and the elbow disk d212 cannot rotate.

The second coupling motion mechanism 900 is fixedly connected to the shoulder connection assembly 800 through a steel pipe connection block, wherein the steel wire rope derived from the cabinet is connected to the shoulder driving disc 103 in the second coupling motion mechanism 900 through the second wire rope guide sleeve 5 connection, the second motor assembly in the chassis drives the shoulder drive disc 103 to rotate through the wire rope, and transmits the power to the second coupling motion mechanism 900. Through the coupling motion, the second coupling motion mechanism 900 outputs three degrees of freedom The movement of three degrees of freedom is controlled by one drive, and the three degrees of freedom are active degrees of freedom, correspondingly realizing the forward and backward flexion and extension of the human shoulder joint, the forward and backward flexion and extension of the elbow joint and the wrist joint Circumferential movement, the movement is coordinated freely, and it is naturally connected with the movement of the front and rear mechanisms, and has good flexibility and coordination.

Referring to Figure 10, the wrist two-degree-of-freedom adaptive mechanism 1000 includes a limit block 1001, a linear guide rail assembly 1002, a wrist connecting plate 1005, a first handle connecting block 1006, a second handle connecting block 1007 and a handle 1008, wherein the linear guide rail assembly 1002 is composed of a linear guide rail slider 1004 and a linear guide rail 1003, and the linear guide rail slider 1004 and the arc guide rail connector 304 of the second coupling motion mechanism 900 are fixedly connected, so that the entire wrist is free The degree adaptive mechanism 1000 is fixed on the second coupling motion mechanism 900, and the linear guide rail 1003 and the linear guide rail slider 1004 can slide relative to each other along the track direction, so the up and down movement parallel to the axis direction of the wrist circular joint can be realized , the first handle connection block 1006 is equipped with a pin shaft 1009 through a bearing, the pin shaft 1009 can rotate relative to the first handle connection block 1006, and because the pin shaft 1009 and the second handle connection block 1007 are fixedly connected to the Together, the second handle connection block 1007 can rotate relative to the first handle connection block 1006, and the two movements are coordinated to form two passive degrees of freedom of the wrist, and the two passive degrees of freedom can be adjusted according to Adaptive adjustments are made according to the use of different patients to adapt to the size of the affected limbs of different patients. At the same time, when the upper limb rehabilitation training device provided by the present invention participates in rehabilitation training, the patient's hand holds the handle 1008, and the wrist The two-degree-of-freedom adaptive mechanism 1000 will adaptively adjust according to the spatial position of the patient's hand during the movement, so that there will be no interference between the affected limb and the mechanism, which not only meets the ergonomic characteristics requirements, while greatly improving the adaptability and safety factor of the device.

The training device is also provided with a weight assembly, and the weight assembly includes a first weight assembly, a second weight assembly, a third weight assembly and a fourth weight assembly. Wherein the first counterweight component and the second counterweight component act on the shoulder three-degree-of-freedom adaptive mechanism 600, and the third counterweight component and the fourth counterweight component act on the first coupling motion mechanism 700 and the second coupling motion mechanism respectively 900. The first weight assembly and the second weight assembly are mainly used to balance the weight of the training device and improve the safety factor of the training device. The shoulder disc 38 and the counterweight disc 113 of the second coupling motion mechanism 900 are mainly used to reduce the output torque of the first drive motor and the second drive motor, and when the external load is relatively large, the power of the motor can be fully utilized .

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.

Claims (10)

1. the exercising apparatus for recovery of upper limb based on grouping couple drive, comprise shoulder Three Degree Of Freedom adaptive mechanism (600), first coupled motions mechanism (700), shoulder coupling assembling (800), second coupled motions mechanism (900) and wrist two degrees of freedom adaptive mechanism (1000), described first coupled motions mechanism (700) is fixedly connected on shoulder Three Degree Of Freedom adaptive mechanism (600), described shoulder coupling assembling (800) is rotatably connected in the first coupled motions mechanism (700), described second coupled motions mechanism (900) is fixedly connected with shoulder coupling assembling (800), described wrist two degrees of freedom adaptive mechanism (1000) is fixedly connected with the second coupled motions mechanism (900), described shoulder Three Degree Of Freedom adaptive mechanism (600) comprises substrate (609), described substrate (609) is provided with Z axis guided way (601), described Z axis guided way (601) slidably connects Z axis slide block (602), it is characterized in that: described Z axis slide block (602) is provided with the first Connection Block (603), described first Connection Block (603) is provided with Y-axis guided way (604), Y-axis guided way (604) slidably connects Y-axis slide block (605), described Y-axis slide block (605) is provided with the second Connection Block (606), described second Connection Block (606) is provided with X-axis slide block (607), described X-axis slide block (607) slidably connects X-axis guided way (608), described X-axis guided way (608) is fixedly connected with the first coupled motions mechanism (700).

2. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 1, it is characterized in that: described first coupled motions mechanism comprises the first Shoulder components and second Shoulder components relatively turnable with this first Shoulder components, wherein, described first Shoulder components is provided with the first disc assembly, described second Shoulder components is provided with the second disc assembly, and this first disc assembly is connected by rope with the second disc assembly, the rotation of the rotatable part that can rotate at first direction on described first disc assembly can drive described second Shoulder components to rotate relative to this first Shoulder components, thus active force is produced to described rope, and then rotatable part rotation in a second direction on described second disc assembly can be driven, thus realize multivariant coupled motions.

3. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 2, it is characterized in that: described first disc assembly comprises the second shoulder disk (14), 3rd shoulder disk (15) and the first shoulder disk (9) as rotatable part on it, first shoulder disk (9), second shoulder disk (14) and the 3rd shoulder disk (15) coaxial package are in a shoulder vertical axes (11), wherein said first shoulder disk (9) is connected with the first drive motors power, can under the effect of this first drive motors with shoulder vertical axes (11) synchronous axial system, described second shoulder disk (14) is fixed with one with the 3rd shoulder disk (15) is parallel in the use procedure of device, the first end of the rope be connected with described second disc assembly and the second end are fixedly installed on this second shoulder disk (14) and the 3rd shoulder disk (15) respectively, described second disc assembly comprises the 4th shoulder disk (37), on the outer circumference surface being enclosed within the 4th shoulder disk (37) in the middle part of described rope and and then tighten, thus described first disc assembly is connected with the second disc assembly, the rotation of described first shoulder disk (9) drives described second Shoulder components to rotate relative to the first Shoulder components, make described second disc assembly relative to described second shoulder disk (14) and the motion of the 3rd shoulder disk (15), thus make that wherein two ends are fixed on wherein one end tensioning of the rope of described second shoulder disk (14) and the 3rd shoulder disk (15) and the other end loosens, thus produce to make drawing described in the 4th shoulder disk (37) be enclosed within described rope rotate around its central shaft.

4. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 3, it is characterized in that: described 4th shoulder disk (37) is fixedly connected with the 5th shoulder disk (38), 5th shoulder disk (38) is connected with the 3rd balance weight assembly, for reducing the output torque of the first drive motors.

5. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 1, it is characterized in that: described shoulder Three Degree Of Freedom adaptive mechanism (600) is connected with the first balance weight assembly and the second balance weight assembly, for the weight of balance training.

6. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 1, it is characterized in that: the second coupled motions mechanism (900) comprises the 3rd Shoulder components (100), the wrist assembly (300) being connected to the wrist assemblies (200) on the 3rd Shoulder components (100) and being connected on wrist assemblies (200), 3rd Shoulder components (100) comprises shoulder Connection Block (101), shoulder Connection Block (101) is provided with shoulder rotating shaft (102) by bearing, shoulder rotating shaft (102) is installed with shoulder driver plate (103) and shoulder swing span (104), described shoulder driver plate (103) is driven by the second drive motors and rotates, described wrist assemblies (200) is arranged on shoulder swing span (104), wrist assemblies (200) comprises the ancon Connection Block (214) be fixedly connected on shoulder swing span (104), the ancon driver plate (201) being fixedly mounted on the ancon rotating shaft (202) on ancon Connection Block (214) and being arranged on by bearing in ancon rotating shaft (202), shoulder Connection Block (101) is installed with shoulder fixed disk (105), shoulder fixed disk (105) is connected by rope a (400) and rope b (401) with ancon driver plate (201), the rotation of shoulder driver plate (103) drives shoulder swing span (104) and ancon Connection Block (214) to swing, make rope a (400) loose and rope b (401) tensioning, rope a (400) and rope b (401) turns to identical rotation to drawing thus making ancon driver plate (201) realize ancon driver plate (201) with shoulder driver plate (103).

7. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 6, it is characterized in that: described ancon driver plate (201) is installed with ancon swing span (203), ancon swing span (203) is arranged in ancon rotating shaft (202) by bearing, described wrist assembly (300) is arranged on ancon swing span (203), ancon Connection Block (214) is installed with ancon fixed disk (204), described wrist assembly (300) comprises the arc-shaped guide rail slide block (302) be arranged on ancon swing span (203), and can the arc-shaped guide rail (303) that moves of opposing arcuate guide rail slide block (302) and the arc-shaped guide rail connector (304) be connected thereon and arc-shaped guide rail accessory (301), ancon swing span (203) is provided with guide wheel group a (500) and guide wheel group b (501), guide wheel group a (500) and guide wheel group b (501) all arranges two or more, the axis horizontal of guide wheel group a (500) is arranged, the axis vertical of guide wheel group b (501) is arranged, described ancon fixed disk (204) is connected with arc-shaped guide rail accessory (301) with rope d (404) by rope c (403), the central axis of arc-shaped guide rail accessory (301) is vertically arranged, rope c (403) is from the one end being connected to arc-shaped guide rail accessory (301) after the guide wheel group a (500) of side and guide wheel group b (501) walks around, rope d (404) is from the other end being connected to arc-shaped guide rail accessory (301) after the guide wheel group a (500) of opposite side and guide wheel group b (501) walks around, the rotation of ancon driver plate (201) drives ancon swing span (203) to swing, make rope c (403) loose and rope d (404) tensioning, rope c (403) and rope d (404) is to drawing thus making arc-shaped guide rail accessory (301) around its vertical center axis thereof.

8. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 7, it is characterized in that: described ancon swing span (203) is provided with arc-shaped guide rail slide block (302), described arc-shaped guide rail slide block (302) is provided with arc-shaped guide rail (303), and described arc-shaped guide rail (303) is fixedly connected with arc-shaped guide rail accessory (301) by arc-shaped guide rail connector (304).

9. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 6, it is characterized in that: described shoulder driver plate (103) is fixedly connected with counterweight disk (113), described counterweight disk (113) is connected with the 4th balance weight assembly, for reducing the output torque of the second drive motors.

10. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 1, it is characterized in that: described wrist two degrees of freedom adaptive mechanism (1000) comprises line slideway assembly (1002), line slideway assembly (1002) comprises the straight-line guide rail slide block (1004) be fixedly connected in the second coupled motions mechanism (900), described straight-line guide rail slide block (1004) slidably connects straight-line guidance rail (1003), straight-line guidance rail (1003) is fixedly connected with the first handle contiguous block (1006), described first handle contiguous block (1006) is hinged with the second handle contiguous block (1007) by bearing pin (1009), described second handle contiguous block (1007) is fixedly connected with handle (1008), the axes normal of bearing pin (1009) is in the moving direction of straight-line guidance rail (1003).