CN104490565B - Seven freedom dermaskeleton type upper limb rehabilitation robot - Google Patents

Abstract

The invention provides a seven-degree-of-freedom exoskeleton type upper limb rehabilitation robot, which includes a forearm and wrist joint movement mechanism, an elbow joint movement mechanism, an upper arm movement mechanism, a gravity compensation movement mechanism, a shoulder joint movement mechanism, and a seat mechanism connected in sequence. The present invention assists hemiplegia patients to carry out active and passive training of upper limbs through motor drive control, including: flexion/extension of the wrist joint, adduction/abduction of the wrist joint; internal rotation/external rotation of the forearm; Elbow flexion/extension; shoulder flexion/extension, internal rotation/external rotation, outward swing/adduction.

Description

Seven degrees of freedom exoskeleton upper limb rehabilitation robot

technical field

The invention relates to a robot, in particular to a seven-degree-of-freedom exoskeleton robot for rehabilitation training of patients with upper limb hemiplegia.

Background technique

Stroke, commonly known as apoplexy, is an acute cerebrovascular disease characterized by high morbidity, mortality, and disability. In recent years, the incidence of stroke has been increasing year by year, becoming the third cause of death after trauma and cancer, and the second cause of disability after trauma. Among the surviving stroke patients, about 3/4 have different degrees of motor function and other functional disabilities, among which the incidence of motor dysfunction is the highest. The society and other people's assisted survival spend a lot of manpower and material resources every year to take care of their daily life, which is mainly borne by the society and family. Exercise therapy is the most important and safe rehabilitation treatment besides surgery and drugs, and it has been proven to have positive curative effects.

The traditional sports rehabilitation training method is that the rehabilitation therapist assists the patient to complete a series of exercises by manpower, which inevitably has many disadvantages, such as the physical exertion during the training process, the training efficiency is low, and the training effect varies depending on the therapist , it is impossible to precisely control the training parameters, the training method is mechanically repeated, etc.

Through the combination of industrial robot technology and rehabilitation training, the medical requirements of rehabilitation physicians for rehabilitation training can be realized, and patients can be helped to achieve motor re-learning combined with active awareness and multiple stimuli. At present, exoskeleton upper limb rehabilitation robots have been used in clinical rehabilitation, but in view of the safety considerations of rehabilitation exercise exoskeleton upper limb rehabilitation robots, coupled with the unique compact structure of exoskeleton robots and the spatial movement requirements of rehabilitation training, the control method based on mechanical feedback Exoskeleton robots put forward higher design and control requirements in the application of passive motion, assisted motion and resistance motion. This is also a key research that affects the progress of power assistance in the field of rehabilitation robots. Simply determining the movement mode through simple position sensing is far from meeting the safety requirements, and it also affects the effect of rehabilitation assistance exercises. In order to ensure higher safety of rehabilitation exercises, the upper limb rehabilitation robot needs to grasp the mechanical parameters of each joint degree of freedom in real time, and feed back to the control system through the collection and calculation of the mechanical parameters, and use this as a benchmark and reference to control external Assisted locomotion in skeletal robots.

After searching the existing technology, it was found that the Chinese invention patent publication number CN101357097A, name: five-degree-of-freedom exoskeleton type upper limb rehabilitation robot, the design structure includes the mounting frame of the robot, the mounting frame is designed with guide rails, the lifting frame is installed on the guide rail, and the lifting frame There is a height adjustment mechanism on the top, and the rotatable mounting arm is installed on the lifting frame through the rotating shaft. The rehabilitation robot body composed of the transverse shoulder, upper arm, forearm and handle is mounted on the rotatable mounting arm, with 5 joint degrees of freedom, 5 Two drive electronics are respectively installed on the rotation shafts of each joint, and four torque sensors cascaded with the drive motor are respectively installed on the shoulder, elbow and wrist, among them, two shoulders, one elbow, and wrist flexion One, the torque sensor is used as the transmission device and the inspection device to connect the motor reducer and the actuator. The robot provides patients with single-degree-of-freedom motion of each joint and three-dimensional multi-joint compound motion, and provides simple and basic daily life action training.

This invention can assist the movement training of the five degrees of freedom of the upper limbs, but it cannot assist the patient in the internal/external rotation of the shoulder joint of the upper limbs and the internal/external rotation of the forearm, and the movements of these two degrees of freedom are combined in Among the compound movements of the upper limbs. Moreover, the control motor and torque sensor selected by this invention result in an uncompact structure, and the overall weight is too large, which is not conducive to use. The circular closed mechanism is not conducive to the safe wearing and disengagement of patients. At the same time, the robot body and affected limbs are not considered. gravity compensation. Therefore, this mechanism has certain limitations when assisting the upper limbs in rehabilitation training.

Contents of the invention

In view of the defects in the prior art, the object of the present invention is to provide a seven-degree-of-freedom exoskeleton upper limb rehabilitation robot, which can be driven and controlled by a motor to assist hemiplegic patients to carry out active and passive training of the upper limb, including: wrist joint Flexion/extension, abduction/adduction; internal/external rotation of the forearm; flexion/extension of the elbow; flexion/extension, internal/external rotation, outward swing/adduction of the shoulder joint.

In order to achieve the above object, the present invention provides a seven-degree-of-freedom exoskeleton type upper limb rehabilitation robot, including: forearm and wrist joint kinematic mechanism, elbow joint kinematic mechanism, upper arm kinematic mechanism, gravity compensation kinematic mechanism, shoulder joint kinematic mechanism connected sequentially , seat mechanism;

The forearm and wrist joint motion mechanism assists the hemiplegic patient to realize the internal/external rotation of the forearm, the flexion/extension of the wrist joint, and the adduction/abduction of the wrist joint for the affected upper limb of the hemiplegic patient;

The elbow joint movement mechanism assists the hemiplegic patient to realize the flexion/extension movement of the elbow joint on the affected upper limb;

The upper arm movement mechanism assists the hemiplegic patient to realize the internal rotation/external rotation of the shoulder joint for the affected upper limb;

The gravity compensation motion mechanism: according to the different forces, it provides elastic support for the connected forearm and wrist motion mechanism, elbow joint motion mechanism, upper arm motion mechanism and upper limbs; realizes shoulder joint movement within the elastic range of motion. Flexion/extension movement, while providing a passive degree of freedom to assist the shoulder joint to adapt to its uncertain axis;

The shoulder joint movement mechanism assists the hemiplegic patient to realize the outward swing/adduction movement of the shoulder joint with the affected upper limb;

The seat mechanism is provided for the user to use in a sitting position and limits the position of the user.

Preferably, the forearm and wrist joint movement mechanism includes a grip bar, a first curved rod, a first shaft, a first bearing, a second curved rod, a first pulley, a first belt, a second pulley, and a second shaft , the second bearing, the coupling, the first motor base, the second motor base, the third motor base, the first motor, the third bending rod, the forearm plate, the third bearing, the third shaft, the third pulley, the second Belt, fourth pulley, fourth shaft, cylindrical bearing, first bevel gear, second bevel gear, second motor, fourth motor mount, fifth motor mount, sixth motor mount and U-shaped ring, wherein: grip bar The tail is inserted into the first bending rod and fastened; the first bending rod and the first pulley are fastened through the first shaft, and the first bearing is installed between the first shaft and the second bending rod; the first motor base and the second motor base , The third motor seat is fastened on the second bending rod, the first motor is fixed in the first motor seat, the second motor seat, and the third motor seat, the first motor and the second shaft are connected through a coupling, and the second A second bearing is installed between the shaft and the second bending rod, the second pulley is fixed on the top of the second shaft, and the first belt is installed between the second pulley and the first pulley; one end of the third bending rod is fastened to the second bending rod Connection, the other end is fastened to the third shaft, one end of the third shaft is fastened to the third pulley, the other end is connected to the forearm plate through the third bearing; the forearm plate is inserted into the U-shaped ring, and can be dragged relative to each other according to the specific length The position is adjusted, the fourth shaft and the first bevel gear are connected by cylindrical bearings, the first bevel gear is fastened in the fourth pulley, and the end of the fourth shaft is fixed in the U-shaped ring slot; the third pulley and the fourth The pulley is connected by the second belt; the fourth motor seat, the fifth motor seat and the sixth motor seat are fastened on the forearm plate, the second motor is fixed in the fourth motor seat, the fifth motor seat, and the sixth motor seat, and the fourth motor seat is fixed on the fifth motor seat and the sixth motor seat. Two bevel gears are fastened on the second motor.

More preferably, the grip rod is provided with a grip rubber sleeve, and the rubber sleeve is customized according to the hand shape of the human hand when holding the rod, so as to facilitate the clamping position of the tiger's mouth and drive the wrist movement, and the grip rubber sleeve is tightly attached to the grip rod.

Preferably, the elbow joint movement mechanism includes a first elbow joint plate, a second elbow joint plate, a first elbow half U-shaped plate, a second elbow half U-shaped plate, a first elbow joint bearing, a second elbow joint Elbow bearing, first elbow shaft, second elbow shaft, first elbow pulley, second elbow pulley, elbow belt, elbow motor mount, first elbow motor mount, second elbow motor Seat, third elbow joint pulley, elbow joint motor, wherein: one end of the first elbow joint plate is fastened to one end of the first elbow joint shaft; the other end of the first elbow joint shaft is fastened to the first elbow joint pulley; the first The elbow joint shaft is connected to the first elbow joint semi-U-shaped plate through a bearing; one end of the second elbow joint plate is fastened to one end of the second elbow joint shaft, and the other end of the second elbow joint shaft is fastened to the second elbow joint pulley; The shaft of the second elbow joint is connected with the half U-shaped plate of the second elbow joint through bearings; the half U-shaped plate of the first elbow joint and the half U-shaped plate of the second elbow joint are symmetrically fixed on the motor mount of the elbow joint; the first elbow joint The motor seat and the second elbow joint motor seat are fixed on the elbow joint motor seat frame; the elbow joint motor is fixed in the first elbow joint motor seat and the second elbow joint motor seat; the third elbow joint pulley is fastened to the elbow joint motor output end; the second elbow pulley and the third elbow pulley are connected through the elbow belt; when the elbow motor is turned over and installed, the third elbow pulley and the first elbow motor seat fixed on it will pass through the elbow joint. The belt is connected to the first elbow pulley;

The other end of the first elbow joint plate of the elbow joint movement mechanism is fastened to the lower end of the U-shaped ring of the forearm and wrist joint movement mechanism, and the other end of the second elbow joint plate of the elbow joint movement mechanism is connected to the U-shaped ring of the forearm and wrist joint movement mechanism. The upper end is fastened so as to realize the connection between the kinematic mechanism of the elbow joint and the forearm and the kinematic mechanism of the wrist joint.

More preferably, grooves are provided at corresponding positions in the vertical direction on the side opposite to the third support frame part of the first support frame part, and grooves are provided on the vertical direction on the side opposite to the fourth support frame part of the second support frame part. Corresponding positions are also provided with grooves, and the left and right ends of the first cylindrical rod, the second cylindrical rod and the third cylindrical rod are placed in the grooves and clamped by fasteners.

More preferably, the first elbow joint plate, the second elbow joint plate, the first elbow half U-shaped plate, and the second elbow half U-shaped plate are each equipped with fasteners for mechanical movement during movement. safety limit.

Preferably, the upper arm movement mechanism includes a semicircular base, a first semicircular cover plate, a second semicircular cover plate, a first arc-shaped guide rail set, a second arc-shaped guide rail set, an upper arm plate, an upper arm support frame, a first Frame, second frame, first straight baffle, second straight baffle, first U-shaped baffle, second U-shaped baffle, first upper arm motor seat, second upper arm motor seat, upper arm motor, upper arm Coupling, upper arm bearing, upper arm shaft, wherein: the tracks of the first and second arc guide rail sets are fixed on both sides of the semicircle base and arranged in a symmetrical mirror image, the sliders of the first and second arc guide rail sets They are respectively fixed on the second and first semi-circular cover plates, the first and second frames are respectively fixed on the first and second semi-circular cover plates, the upper arm support frame is fixed on the first frame, and the first U-shaped baffle 1. The second U-shaped baffle is fixed on the second and first semi-circular cover plates, the semi-circular base and the upper arm plate are fastened, the first and second upper arm motor seats are fastened on the upper arm plate, and the upper arm motor is placed on the first and second In the second upper arm motor seat, the output shaft of the upper arm motor is connected with the upper arm shaft through the upper arm coupling, and the upper arm shaft is connected with the semicircle base through the upper arm bearing; the two ends of the first straight baffle are respectively fixed on the first frame and the The upper end of the second frame and the two ends of the second straight baffle are respectively fixed to the lower ends of the first frame and the second frame by fasteners;

The second frame on the second half-circle cover plate of the upper arm kinematic mechanism is fixedly connected with one end of the elbow joint motor mount of the elbow joint kinematic mechanism, thereby realizing the connection between the upper arm kinematic mechanism and the elbow joint kinematic mechanism.

Preferably, the gravity compensation motion mechanism includes a first support rod seat, a support rod, a second support rod seat, a first support frame part, a second support frame part, a third support frame part and a fourth support frame part , the first cylindrical rod, the second cylindrical rod, the third cylindrical rod, the column tube, the rotating seat, the first column base, and the second column base; wherein: one end of the support rod is connected with the first support rod base, and the other end is connected with the second support rod base The two support rod seats are connected; the first support rod seat is sleeved on the column pipe and locked; the second support rod seat is connected with the second support frame part and the fourth support frame part; the second support frame part and the fourth support frame part connected and cooperate with each other, the first support frame part and the third support frame part are connected and cooperate with each other, the first cylindrical rod, the second cylindrical rod and the third cylindrical rod are respectively supported by the first support frame part, the third support frame part, the third support frame part The second support frame part is clamped with the fourth support frame part; the first support frame part and the third support frame part are connected with one end of the swivel seat, and the other end of the swivel seat is connected with the column tube, and the middle and bottom of the column tube are respectively equipped with the second A column seat, a second column seat, and the first support rod seat is between the first column seat and the second column seat;

The first support frame part and the second support frame part of the gravity compensation movement mechanism are connected and fixed with the upper arm plate of the upper arm movement mechanism, thereby realizing the connection between the gravity compensation movement mechanism and the upper arm movement mechanism.

Preferably, the shoulder joint motion mechanism includes a shoulder joint motor, a first shoulder joint bracket, a second shoulder joint bracket, a first shoulder joint support tube, a universal wheel, a wheel seat, a third shoulder joint bracket, a fourth Shoulder joint bracket and second shoulder joint support tube, wherein: the output shaft of the shoulder joint motor is fastened to one end of the first shoulder joint bracket; the other end of the first shoulder joint bracket and one end of the second shoulder joint bracket are both sleeved on the first and lock the shoulder joint support tube; the wheel seat is screwed on the bottom of the first shoulder joint support tube; the universal wheel is fastened on the wheel seat; one end of the third shoulder joint bracket and the fourth shoulder joint bracket On the joint support tube, the other end is sleeved on the second shoulder joint support tube and locked;

The first column seat and the second column seat of the gravity compensation motion mechanism are sleeved on the second shoulder joint support tube of the shoulder joint motion mechanism and locked, thereby realizing the connection between the shoulder joint motion mechanism and the gravity compensation motion mechanism.

Preferably, the seat mechanism includes a seat frame, a seat frame plate, a seat cushion, a back cushion, a motor frame plate, a seat shaft and a motor seat, wherein: the seat frame plate is fixed on the seat frame; On the flat plate of the seat frame; the back cushion is covered on the back of the seat frame; the motor base is fixed on one side of the seat frame; the motor frame plate is fixed on the motor base; the flange of the seat shaft is fixed on the flat plate of the seat frame ;

The shoulder joint motor of the shoulder joint movement mechanism is placed in the motor frame plate of the seat mechanism, and the other end of the second shoulder joint support of the shoulder joint movement mechanism is sleeved on the seat shaft of the seat mechanism, thereby realizing the connection between the shoulder joint movement mechanism and the seat mechanism. Connection of the chair mechanism.

Compared with the prior art, the present invention has the following beneficial effects:

The present invention assists the hemiplegic patient to perform active and passive training on the affected upper limbs through motor drive control, including: flexion/extension, abduction/adduction of the wrist joint; internal/external rotation of the forearm; flexion/extension of the elbow joint; Flexion/extension, internal/external rotation, outward swing/adduction of the shoulder joint. Adopting the present invention improves training efficiency, accurately trains parameters, and has a compact structure, which is beneficial to popularization.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

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

Fig. 2 is the structural representation of forearm and wrist joint motion mechanism of the present invention;

Fig. 3 is the structural representation of the elbow joint motion mechanism of the present invention;

Fig. 4 is a schematic structural view of the upper arm movement mechanism of the present invention;

Fig. 5 is a structural schematic diagram of the gravity compensation motion mechanism of the present invention;

Fig. 6 is the structural representation of the shoulder joint motion mechanism of the present invention;

Fig. 7 is a schematic structural view of the seat mechanism of the present invention;

In the picture:

Forearm and wrist joint movement mechanism 1, elbow joint movement mechanism 2, upper arm movement mechanism 3, gravity compensation movement mechanism 4, shoulder joint movement mechanism 5, seat mechanism 6;

Grip rubber sleeve 101, grip 102, first curved rod 103, first shaft 104, first bearing 105, second curved rod 106, first pulley 107, first belt 108, second pulley 109, second shaft 110, the second bearing 111, the shaft coupling 112, the first motor base 113, the second motor base 114, the third motor base 115, the first motor 116, the third bending rod 117, the forearm plate 118, the third bearing 119, Third shaft 120, third pulley 121, second belt 122, fourth pulley 123, fourth shaft 124, cylindrical bearing 125, first bevel gear 126, second bevel gear 127, second motor 128, fourth motor seat 129, the fifth motor seat 130, the sixth motor seat 131, the block 132, the U-shaped ring 133;

The first elbow joint plate 201, the second elbow joint plate 202, the first elbow joint semi-U-shaped plate 203, the second elbow joint semi-U-shaped plate 204, the first elbow joint axis 205, the second elbow joint axis 206, the first Elbow joint pulley 207, second elbow pulley 208, elbow belt 209, third elbow pulley 210, first elbow motor base 211, second elbow motor base 212, elbow motor base 213, elbow motor 214;

Semicircle base 301, first semicircle cover plate 302, second semicircle cover plate 303, first arc guide rail kit 304, second arc guide rail kit 305, upper arm plate 306, first upper arm motor seat 307, second upper arm motor Seat 308, upper arm motor 309, upper arm coupling 310, upper arm bearing 311, upper arm shaft 312, steel wire 313, first U-shaped baffle 314, second U-shaped baffle 315, first straight baffle 316, second Straight baffle plate 317, upper arm support frame 318, first frame 319, second frame 320;

The first support rod seat 401, the support rod 402, the second support rod seat 403, the first support frame part 404, the second support frame part 405, the third support frame part 406, the fourth support frame part 407, the first cylindrical rod 408, second cylindrical rod 409, third cylindrical rod 410, shaft 411, column tube 412, swivel seat 413, bearing 414, bearing 415, first column seat 416, bearing 417, second column seat 418, bearing 419, support Shaft 420 and bearing 421;

Shoulder joint motor 51, the first shoulder joint support 52, the second shoulder joint support 53, the first shoulder joint support tube 54, universal wheel 55, wheel seat 56, the third shoulder joint support 57, the fourth shoulder joint support 58, The second shoulder joint support tube 59;

The seat mechanism 6 includes a seat frame 61 , a seat frame flat plate 62 , a seat cushion 63 , a back cushion 64 , a motor frame plate 65 , a seat shaft 66 and a motor seat 67 .

detailed description

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figure 2, the rotating shaft J1 is the rotating axis of the first shaft 104; the rotating shaft J2 is the rotating axis of the first motor 116; the rotating shaft J3 is the rotating axis of the third shaft 120 and the third pulley 121; The rotation axes of the four pulleys 123 .

As shown in FIG. 3 , the rotation axis J5 is the rotation axis of the elbow joint motor 214 ; the rotation axis J6 is the rotation axis of the first elbow joint shaft 205 and the second elbow joint shaft 206 .

As shown in FIG. 4 , the rotation axis J7 is the rotation axis of the upper arm motor 309 ; the rotation axis J8 is the arc center axis of the semicircle base 301 , the first semicircle cover plate 302 , and the second semicircle cover plate 303 .

As shown in FIG. 5 , the axis of rotation J9 is the axis of rotation of the shaft 414 .

As shown in FIG. 6 , the rotation axis J10 is the rotation axis of the shoulder joint motor 51 .

As shown in Figure 1, this embodiment provides a seven-degree-of-freedom exoskeleton type upper limb rehabilitation robot, including a forearm and wrist joint motion mechanism 1, an elbow joint motion mechanism 2, an upper arm motion mechanism 3, a gravity compensation motion mechanism 4, a shoulder joint The motion mechanism 5 and the seat mechanism 6, wherein, the forearm and wrist joint motion mechanism 1 is connected with the elbow joint motion mechanism 2, the elbow joint motion mechanism 2 is connected with the upper arm motion mechanism 3, and the upper arm motion mechanism 3 is connected with the gravity compensation motion mechanism 4, The gravity compensation movement mechanism 4 is connected with the shoulder joint movement mechanism 5 , and the shoulder joint movement mechanism 5 is connected with the seat mechanism 6 .

The forearm and wrist joint motion mechanism assists the hemiplegic patient to realize the internal/external rotation of the forearm, the flexion/extension of the wrist joint, and the adduction/abduction of the wrist joint for the affected upper limb of the hemiplegic patient;

The elbow joint movement mechanism assists the hemiplegic patient to realize the flexion/extension movement of the elbow joint on the affected upper limb;

The upper arm movement mechanism assists the hemiplegic patient to realize the internal rotation/external rotation of the shoulder joint for the affected upper limb;

The gravity compensation motion mechanism: according to the different forces, it provides elastic support for the connected forearm and wrist motion mechanism, elbow joint motion mechanism, upper arm motion mechanism and upper limbs; realizes shoulder joint movement within the elastic range of motion. Flexion/extension movement, while providing a passive degree of freedom to assist the shoulder joint to adapt to its uncertain axis;

The shoulder joint movement mechanism assists the hemiplegic patient to realize the outward swing/adduction movement of the shoulder joint with the affected upper limb;

The seat mechanism is provided for the user to use in a sitting position and limits the position of the user.

As a preferred embodiment of the present invention, as shown in FIG. 2 , the forearm and wrist joint motion mechanism 1 includes a grip rubber sleeve 101, a grip 102, a first bending rod 103, a first shaft 104, and a first bearing. 105, the second bending rod 106, the first pulley 107, the first belt 108, the second pulley 109, the second shaft 110, the second bearing 111, the coupling 112, the first motor base 113, the second motor base 114, The third motor base 115, the first motor 116, the third bending rod 117, the forearm plate 118, the third bearing 119, the third shaft 120, the third pulley 121, the second belt 122, the fourth pulley 123, the fourth shaft 124 , cylindrical bearing 125, first bevel gear 126, second bevel gear 127, second motor 128, fourth motor seat 129, fifth motor seat 130, sixth motor seat 131, stopper 132 and U-shaped ring 133, wherein :

The handle rubber sleeve 101 is tightly fitted on the handle 102, and the tail of the handle 102 is inserted into the first curved rod 103 and fastened by threads; the other end of the first curved rod 103 is fastened to the first pulley 107 through the first shaft 104; The first bearing 105 is housed between the first shaft 104 and the second bending rod 106, and the first shaft 104 rotates around the rotation axis J1; On the two bent rods 106, the first motor 116 is fixed in the first motor seat 113, the second motor seat 114, the third motor seat 115, the first motor seat ensures axial positioning, but due to the relatively large size of parts and fixing screws here Small, the second motor base and the third motor base are required to play an auxiliary fixing role, and the first motor is embedded in the motor base, which will not be affected by external force bumps. The first motor 116 is connected with the second shaft 110 through a shaft coupling 112; the second bearing 111 is installed between the second shaft 110 and the second curved rod 106, and the second shaft 110 rotates around the rotation axis J2; the second pulley 109 is fixed on The top of the second shaft 110, the first belt 108 is installed between the second pulley 109 and the first pulley 107; One end of the third shaft 120 is fastened to the third pulley 121, the other end is connected to one end of the forearm plate 118 through the third bearing 119, and the third shaft 120 rotates around the rotation axis J3; the other end of the forearm plate 118 is inserted into the U-shaped ring 133, And the relative position can be adjusted according to the specific length; the fourth shaft 124 is connected with the first bevel gear 126 through a cylindrical bearing 125, and the first bevel gear 126 is fastened in the fourth pulley 123; the end of the fourth shaft 124 is fixed In the notch of the U-shaped ring 133, the fourth shaft 124 rotates around the rotation axis J4; the third pulley 121 and the fourth pulley 123 are connected by the second belt 122; the fourth motor seat 129, the fifth motor seat 130, and the sixth motor seat 131 is fastened on the forearm plate 118 by screws, and the second motor 128 is fixed in the fourth motor seat 129, the fifth motor seat 130, and the sixth motor seat 131; the second bevel gear 127 is fastened on the second motor 128; The stopper 132 is fixed on the forearm plate 118. When the third curved rod 117 rotates around the rotation axis J3 with the third shaft 120, the third curved rod 117 is limited by the stopper 132 within a limited range of motion, as a mechanical safety limit mechanism .

In this embodiment, driven by the first motor 116 and the second motor 128, the forearm and wrist joint motion mechanism 1 can realize passive motion of the forearm and wrist joint in three degrees of freedom:

1. The internal/external rotation of the forearm: the first motor 116 rotates around the rotation axis J2. Driven by the first motor 116, the second pulley 109 drives the first pulley 107 to rotate through the first belt 108, thereby driving the first The shaft 104 rotates around the rotation axis J1, that is, the rotation of the forearm around the rotation axis J1 is realized;

2. Flexion/extension movement of the wrist joint: the first motor 116 drives the grip 102 to rotate around the rotation axis J1, when the grip 102 and the rotation axis J3 are on the same plane and fixed at this angle, the second motor 128 rotates, and the The first bevel gear 126 meshes with the second bevel gear 127 to drive the fourth pulley 123 to rotate, and the fourth pulley 123 drives the third pulley 121, the third shaft 120, and the third bending rod 117 around the rotation axis J3 through the second belt 122 rotate,

3. The adduction/abduction movement of the wrist joint: the first motor 116 drives the handle 102 to rotate around J1, when the handle 102 is perpendicular to the rotation axis J3 and fixed at this angle, the second motor 128 drives the wrist joint around the rotation axis J3 rotates.

As a preferred embodiment of the present invention, as shown in FIG. 3 , the elbow joint motion mechanism 2 includes a first elbow joint plate 201, a second elbow joint plate 202, a first elbow half U-shaped plate 203, a second elbow joint plate 203, and a second elbow joint plate 202. Two elbow joint semi-U-shaped plates 204, the first elbow joint shaft 205, the second elbow joint shaft 206, the first elbow joint pulley 207, the second elbow joint pulley 208, the elbow belt 209, the third elbow joint pulley 210, the An elbow joint motor seat 211, a second elbow joint motor seat 212, an elbow joint motor seat frame 213 and an elbow joint motor 214, wherein:

One end of the first elbow joint plate 201 is fastened to one end of the first elbow joint shaft 205; the other end of the first elbow joint shaft 205 is fastened to the first elbow joint pulley 207; the first elbow joint shaft 205 is connected to the first elbow joint half The U-shaped plate 203 is connected through bearing fit; one end of the second elbow joint plate 202 is fastened to one end of the second elbow joint shaft 206, and the other end of the second elbow joint shaft 206 is fastened to the second elbow joint pulley 208; The joint shaft 206 and the second elbow half U-shaped plate 204 are connected through bearings; the first elbow joint half U-shaped plate 203 and the second elbow joint half U-shaped plate 204 are symmetrically fixed on the elbow joint motor mount 213; The elbow joint motor seat 211 and the second elbow joint motor seat 212 are fixed on the elbow joint motor seat frame 213; the elbow joint motor 214 is fixed in the first elbow joint motor seat 211 and the second elbow joint motor seat 212; the third elbow joint The pulley 210 is fastened on the output end of the elbow joint motor 214 ; the second elbow joint pulley 208 is connected to the third elbow joint pulley 210 through the elbow joint belt 209 . When the elbow joint motor 214 was turned over and switched over and installed, the third elbow joint pulley 210 and the first elbow joint motor seat 211 fixed thereon would be connected with the first elbow joint pulley 207 by the elbow joint belt 209; the first elbow joint motor seat It plays the role of axial positioning, and the second elbow joint motor base assists in positioning, ensuring that the elbow joint motor is embedded in the two motor bases and is not affected by external forces.

The other end of the first elbow joint plate 201 in the elbow joint movement mechanism 2 is fastened with the forearm and the lower end of the U-shaped ring 133 in the wrist joint movement mechanism 1 by screws; the other end of the second elbow joint plate 202 in the elbow joint movement mechanism is connected with The upper end of the U-shaped ring 133 in the forearm and wrist joint motion mechanism 1 is fastened by screws, and in this way the connection between the elbow joint motion mechanism 2 and the forearm and wrist joint motion mechanism 1 is realized.

In this embodiment, the axis of the elbow joint motor 214 drives the third elbow joint pulley 210 to rotate around the rotation axis J5, and through the transmission of the elbow joint belt 209, the first elbow joint plate 201 and the second elbow joint plate 202 rotate around the J6 axis. The elbow joint motion mechanism 2 can realize the flexion/extension motion of the elbow joint, that is, the elbow joint rotates around the rotation axis J6.

In this embodiment, the first elbow joint plate 201, the second elbow joint plate 202, the first elbow joint semi-U-shaped plate 203, and the second elbow joint semi-U-shaped plate 204 are respectively equipped with fastening screws. When exercising, it is used as a mechanical safety limit.

As a preferred embodiment of the present invention, as shown in FIG. 4 , the upper arm movement mechanism 3 includes a semicircular base 301, a first semicircular cover plate 302, a second semicircular cover plate 303, a first arc guide rail set 304, The second arc guide rail kit 305, the upper arm plate 306, the first upper arm motor seat 307, the second upper arm motor seat 308, the upper arm motor 309, the upper arm coupling 310, the upper arm bearing 311, the upper arm shaft 312, the steel wire 313, the first U-shaped baffle plate 314, the second U-shaped baffle plate 315, the first straight baffle plate 316, the second straight baffle plate 317, the upper arm support frame 318, the first frame 319 and the second frame 320, wherein:

The tracks of the first and second arc guide rail suites 304, 305 are fixed on both sides of the semicircle base 301 by screws and arranged in a symmetrical mirror image; the slide blocks of the first and second arc guide rail suite 304, 305 are respectively fixed on Second, on the first semi-circular cover plates 303, 302; the first and second frame bases 319, 320 are respectively fixed on the first and second semi-circular cover plates 302, 303; the upper arm support frame 318 is fixed on the first frame by screws On the seat 319; the first U-shaped baffle plate 314 and the second U-shaped baffle plate 315 are fixed on the second and first semicircular cover plates 303, 302 by screws; the semicircular base 301 and the upper arm plate 306 are fastened by screws; the second 1. The second upper arm motor base 307, 308 is fastened on the upper arm plate 306 by screws; the upper arm motor 309 is placed in the first and second upper arm motor bases 307, 308; the output shaft of the upper arm motor 309 and the upper arm shaft 312 are connected through the upper arm The shaft device 310 is connected; the upper arm shaft 312 is connected with the semicircular base 301 through the upper arm bearing 311; the two ends of the first straight baffle 316 are respectively fixed on the upper section of the first frame 319 and the second frame 320 by screws, and the second straight baffle The two ends of 317 are respectively fixed on the lower ends of the first stand 319 and the second stand 320 by screws.

In this embodiment, the upper arm movement mechanism 3 can realize: driven by the upper arm motor 309, the upper arm shaft 312 rotates around the rotation axis J7, and the steel wire 313 drives the internal/external rotation of the shoulder joint: that is, the upper arm rotates around the rotation axis J7. The rotary shaft J8 rotates.

As a preferred embodiment of the present invention, as shown in FIG. 5 , the gravity compensation motion mechanism 4 includes a first support rod seat 401, a support rod 402, a second support rod seat 403, a first support frame part 404, a second Two support frame parts 405, the third support frame part 406, the fourth support frame part 407, the first cylindrical rod 408, the second cylindrical rod 409, the third cylindrical rod 410, the shaft 411, the column tube 412, the rotating seat 413, the shaft 414, bearing 415, first column seat 416, bearing 417, second column seat 418, bearing 419, support shaft 420 and bearing 421, wherein:

One end of the support rod 402 is connected with the first support rod seat 401 through the bearing 421 and the shaft 420, and the other end is connected with the second support rod seat 403 through the shaft; the first support rod seat 401 is sleeved on the column tube 412 and locked; Two support rod bases 403 are connected with the second support frame part 405 and the fourth support frame part 407 by bolts; the second support frame part 405 and the fourth support frame part 407 are connected by bolts; the first support frame part 404 and the third support The frame parts 406 are connected by bolts; the first cylindrical rod 408, the second cylindrical rod 409 and the third cylindrical rod 410 are respectively supported by the first support frame part 404 and the third support frame part 406, the second support frame part 405 and the fourth support frame part 405. The frame part 407 is clamped by bolts; the first support frame part 404 and the third support frame part 406 are connected with one end of the swivel seat 413 by bolts; the other end of the swivel seat 413 is connected with the column tube 412 through the shaft 411; the shaft 411 is connected with the swivel seat 413 is connected by bearing 414 and bearing 415, and the swivel seat 413 can rotate around the axis of the shaft 411; the middle and bottom of the column tube 412 are respectively equipped with a first column seat 416 and a second column seat 418, and the first support rod seat 401 is in the Between the first column seat 416 and the second column seat 418; the first column seat 416, the second column seat 418 and the column pipe 412 are respectively connected by bearings 417 and bearings 419, and the first column seat 416 and the second column seat 418 can be Rotate around the axis of the column tube 412;

The sides of the first support frame part 404 and the second support frame part 405 of the gravity compensation movement mechanism 4 are connected and fixed with the upper arm plate 306 of the upper arm movement mechanism 3 by bolts, thereby realizing the connection between the gravity compensation movement mechanism 4 and the upper arm movement mechanism 3 .

In this embodiment, grooves are provided at corresponding positions in the vertical direction on the side opposite to the first support frame part 404 and the third support frame part 406, and the second support frame part 405 is opposite to the fourth support frame part 407. Grooves are also provided at corresponding positions in the vertical direction on one side, and the left and right ends of the first cylindrical rod 408 , the second cylindrical rod 409 and the third cylindrical rod 410 are placed in the grooves and clamped.

In this embodiment, the gravity compensation movement mechanism 4 can realize three functions:

1. According to the different forces, provide elastic support for the forearm and wrist joint movement mechanism 1, the elbow joint movement mechanism 2, the upper arm movement mechanism 3 and the upper limbs;

2. Within the range of elastic movement, the flexion/extension movement of the shoulder joint is realized: the shoulder joint rotates around the rotation axis J9;

3. At the same time, the rotation of the column tube 412 of the gravity compensation motion mechanism 4 provides a passive degree of freedom to assist the shoulder joint to adapt to its uncertain axis.

In this embodiment, the connected forearm, wrist joint movement mechanism 1, elbow joint movement mechanism 2, and upper arm movement mechanism 3 can be turned 180 degrees around the second cylindrical rod 409 to provide changes for left and right upper limb interchange.

As a preferred embodiment of the present invention, as shown in Figure 6, the shoulder joint mechanism 5 includes: a shoulder joint motor 51, a first shoulder joint support 52, a second shoulder joint support 53, a first shoulder joint support tube 54 , universal wheel 55, wheel seat 56, the third shoulder joint support 57, the fourth shoulder joint support 58 and the second shoulder joint support tube 59, wherein:

The output shaft of the shoulder joint motor 51 is fastened to one end of the first shoulder joint support 52; Bolt locking; wheel seat 56 is screwed on the bottom of the first shoulder joint support pipe 54 by thread; universal wheel 55 is fastened on the wheel seat 56 by screw; one end of the third shoulder joint support 57 and the fourth shoulder joint support 58 Sleeve on the first shoulder joint support tube 54, the other end is sleeved on the second shoulder joint support tube 59 and locked by bolts;

The first column seat 416 and the second column seat 418 of the gravity compensation motion mechanism 4 are sleeved on the second shoulder joint support tube 59 of the shoulder joint motion mechanism 5 and locked, thereby realizing the shoulder joint motion mechanism 5 and the gravity. Compensation kinematics 4 connections.

In this embodiment, the shoulder joint mechanism 5 can realize: the shoulder joint motor 51 rotates around the rotation axis J10 to drive the shoulder joint to swing out/inward. At this time, the shoulder joint rotates around the rotation axis J10 on the horizontal plane.

As a preferred embodiment of the present invention, as shown in Figure 7, described seat mechanism 6 comprises seat frame 61, seat frame flat board 62, seat cushion 63, back cushion 64, motor frame plate 65, seat shaft 66 and Motor seat 67, wherein:

The seat frame flat plate 62 is fixed on the seat frame 61; the seat cushion 63 is placed on the seat frame flat plate 62; the back cushion 64 is covered on the backrest of the seat frame 61; The plate 65 is fixed on the motor base 67 by screws; the flange of the seat shaft 66 is fixed on the seat frame flat plate 62 by screws;

The shoulder joint motor 51 of the shoulder joint movement mechanism is placed in the motor frame plate 65, and the second shoulder joint support 53 other end of the shoulder joint movement mechanism 5 is enclosed within on the seat shaft 66, thereby realizing described shoulder joint movement mechanism 5 and all The connection of the seat mechanism 6 is described above.

In this embodiment, the function of the seat mechanism 6 is to provide the user with a sitting posture, limit the position of the user, and position the shoulder joint on the rotation axis J10.

In summary, the present invention assists the hemiplegic patient to perform active and passive training on the affected upper limb through motor drive control, including: flexion/extension of the wrist joint, adduction/abduction of the wrist joint; internal rotation/rotation of the forearm External movement; flexion/extension of the elbow joint; flexion/extension of the shoulder joint, internal rotation/external rotation, outward swing/adduction.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which will not affect the essence of the present invention.

Claims (8)

1. A seven-degree-of-freedom exoskeleton type upper limb rehabilitation robot, is characterized in that, comprises successively connected forearm and wrist joint kinematic mechanism, elbow joint kinematic mechanism, upper arm kinematic mechanism, gravity compensation kinematic mechanism, shoulder joint kinematic mechanism, seat mechanism; The forearm and wrist joint motion mechanism assists the hemiplegic patient to realize the internal/external rotation of the forearm, the flexion/extension of the wrist joint, and the adduction/abduction of the wrist joint for the affected upper limb of the hemiplegic patient; The elbow joint movement mechanism assists the hemiplegic patient to realize the flexion/extension movement of the elbow joint on the affected upper limb; The upper arm movement mechanism assists the hemiplegic patient to realize the internal rotation/external rotation of the shoulder joint for the affected upper limb; The gravity compensation motion mechanism: according to the different forces, it provides elastic support for the connected forearm and wrist motion mechanism, elbow joint motion mechanism, upper arm motion mechanism and upper limbs; realizes shoulder joint movement within the elastic range of motion. Flexion/extension movement, while providing a passive degree of freedom to assist the shoulder joint to adapt to its uncertain axis; The shoulder joint movement mechanism assists the hemiplegic patient to realize the outward swing/adduction movement of the shoulder joint with the affected upper limb; The seat mechanism described above provides the user with a sitting position and limits the position of the user; The gravity compensation movement mechanism includes a first support rod seat, a support rod, a second support rod seat, a first support frame part, a second support frame part, a third support frame part, a fourth support frame part, a first Cylindrical rods, second cylindrical rods, third cylindrical rods, upright pipes, swivel seats, first upright bases, second upright bases; wherein: one end of the support rod is connected with the first support rod base, and the other end is connected with the second support rod The seat is connected; the first support rod seat is set on the column pipe and locked; the second support rod seat is connected with the second support frame part and the fourth support frame part; the second support frame part and the fourth support frame part are connected and mutually Cooperating, the first support frame part and the third support frame part are connected and cooperate with each other, and the first cylindrical rod, the second cylindrical rod and the third cylindrical rod are respectively supported by the first support frame part, the third support frame part and the second support frame The part is clamped with the fourth support frame part; the first support frame part and the third support frame part are connected with one end of the swivel seat, the other end of the swivel seat is connected with the column tube, and the middle and bottom of the column tube are respectively equipped with the first column seat , the second column seat, and the first support rod seat is between the first column seat and the second column seat. 2. A seven-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 1, wherein the forearm and wrist joint motion mechanism includes a grip bar, a first bending bar, a first shaft, a first Bearing, second bent rod, first pulley, first belt, second pulley, second shaft, second bearing, coupling, first motor base, second motor base, third motor base, first motor, The third bending rod, the forearm plate, the third bearing, the third shaft, the third pulley, the second belt, the fourth pulley, the fourth shaft, the cylindrical bearing, the first bevel gear, the second bevel gear, the second motor, the fourth Four motor seats, the fifth motor seat, the sixth motor seat and the U-shaped ring, wherein: the tail of the handle bar is inserted into the first bending bar and fastened; the first bending bar and the first pulley are fastened through the first shaft, and the first The first bearing is installed between the shaft and the second bending rod; the first motor base, the second motor base and the third motor base are fastened on the second bending rod; the first motor is fixed on the first motor base and the second motor base , In the third motor base, the first motor is connected to the second shaft through a coupling, the second bearing is installed between the second shaft and the second curved rod, the second pulley is fixed on the top of the second shaft, the second pulley and the second The first belt is installed between the pulleys; one end of the third bending rod is fastened to the second bending rod, the other end is fastened to the third shaft, one end of the third shaft is fastened to the third pulley, and the other end is connected to the forearm plate Connected by the third bearing; the forearm plate is inserted into the U-shaped ring, the fourth shaft and the first bevel gear are connected by a cylindrical bearing, the first bevel gear is fastened in the fourth pulley, and the end of the fourth shaft is fixed on the U-shaped In the notch of the ring; the third pulley and the fourth pulley are connected by the second belt; the fourth motor seat, the fifth motor seat and the sixth motor seat are fastened on the forearm plate, and the second motor is fixed on the fourth motor seat, the fifth motor seat In the motor base and the sixth motor base, the second bevel gear is fastened on the second motor. 3. A seven-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 1, wherein said elbow joint motion mechanism comprises a first elbow joint plate, a second elbow joint plate, a first elbow joint Half U-shaped plate, second elbow half U-shaped plate, first elbow joint bearing, second elbow joint bearing, first elbow joint shaft, second elbow joint shaft, first elbow joint pulley, second elbow joint pulley, Elbow joint belt, elbow joint motor mount, first elbow joint motor mount, second elbow joint motor mount, third elbow joint pulley, elbow joint motor, wherein: one end of the first elbow joint plate and one end of the first elbow joint shaft fastening; the other end of the first elbow joint shaft is fastened to the first elbow joint pulley; the first elbow joint shaft is connected to the half U-shaped plate of the first elbow joint through the first elbow joint bearing; one end of the second elbow joint plate is connected to the second elbow joint plate One end of the second elbow joint shaft is fastened, and the other end of the second elbow joint shaft is fastened to the second elbow joint pulley; the second elbow joint shaft and the second elbow joint half U-shaped plate are connected through the second elbow joint bearing; The half U-shaped plate of one elbow joint and the half U-shaped plate of the second elbow joint are symmetrically fixed on the motor mount of the elbow joint; the motor mount of the first elbow joint and the motor mount of the second elbow joint are fixed on the motor mount of the elbow joint; The motor is fixed in the first elbow joint motor seat and the second elbow joint motor seat, and the third elbow joint pulley is fastened on the output end of the elbow joint motor; the second elbow joint pulley is connected to the third elbow joint pulley through the elbow joint belt; When the elbow joint motor was flipped and switched over and installed, the third elbow joint pulley and the first elbow joint motor seat fixed thereon would be connected with the first elbow joint pulley by the elbow joint belt. 4. A seven-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 3, characterized in that, the corresponding position in the vertical direction on the side opposite to the third support frame part of the first support frame part is provided with The groove, the second support frame part and the fourth support frame part are also provided with grooves at the corresponding positions in the vertical direction on the side opposite to the fourth support frame part, and the left and right ends of the first cylindrical rod, the second cylindrical rod and the third cylindrical rod are placed on the into the groove and clamped with fasteners. 5. A seven-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 3, characterized in that, the first elbow joint plate, the second elbow joint plate, the first elbow half U-shaped plate, the second elbow joint plate, Fasteners are respectively installed on the half U-shaped plates of the two elbow joints, which are used for mechanical safety limit during movement. 6. A seven-degree-of-freedom exoskeleton upper limb rehabilitation robot according to claim 3, wherein the upper arm motion mechanism includes a semicircle base, a first semicircle cover plate, a second semicircle cover plate, a second semicircle cover plate, and a second semicircle cover plate. A curved guide rail kit, a second curved guide rail kit, an upper arm plate, an upper arm support frame, a first stand, a second stand, a first straight baffle, a second straight baffle, a first U-shaped baffle, a second Two U-shaped baffles, the first upper arm motor seat, the second upper arm motor seat, the upper arm motor, the upper arm coupling, the upper arm bearing, and the upper arm shaft, wherein: the tracks of the first and second arc guide rail kits are fixed on the semicircle base The two sides are arranged in a symmetrical mirror image. The sliders of the first and second arc-shaped guide rail kits are respectively fixed on the second and first half-circle cover plates, and the first and second mounts are respectively fixed on the first and second On the semicircular cover, the upper arm support frame is fixed on the first frame, the first U-shaped baffle and the second U-shaped baffle are fixed on the second and first semicircular cover, the semicircular base and the upper arm are fastened, The first and second upper arm motor mounts are fastened to the upper arm plate, and the upper arm motors are placed in the first and second upper arm motor mounts. Bearing connection; the two ends of the first straight baffle are respectively fixed on the upper ends of the first frame and the second frame by fasteners, and the two ends of the second straight baffle are respectively fixed on the first frame and the second frame by fasteners The lower end of the seat. 7. A seven-degree-of-freedom exoskeleton type upper limb rehabilitation robot according to any one of claims 1-6, wherein said shoulder joint motion mechanism includes a shoulder joint motor, a first shoulder joint support, a second shoulder joint The second shoulder joint support, the first shoulder joint support tube, the universal wheel, the wheel seat, the third shoulder joint support, the fourth shoulder joint support, and the second shoulder joint support tube, wherein: the output shaft of the shoulder joint motor and the first shoulder joint One end of the bracket is fastened; the other end of the first shoulder joint bracket and one end of the second shoulder joint bracket are both sleeved on the first shoulder joint support tube and locked; the wheel seat is screwed on the bottom of the first shoulder joint support tube; The direction wheel is fastened on the wheel seat; one end of the third shoulder joint support and the fourth shoulder joint support is sleeved on the first shoulder joint support tube, and the other end is sleeved on the second shoulder joint support tube and locked. 8. A seven-degree-of-freedom exoskeleton upper limb rehabilitation robot according to any one of claims 1-6, wherein the seat mechanism includes a seat frame, a seat frame plate, a seat cushion, and a back cushion , motor frame plate, seat shaft and motor seat, wherein: the seat frame plate is fixed on the seat frame; the seat cushion is placed on the seat frame plate; the back cushion is covered on the backrest of the seat frame; the motor seat is fixed on the seat One side of the frame; the motor frame plate is fixed on the motor seat; the flange plate of the seat shaft is fixed on the seat frame plate.