CN219783061U - Adjustable single-arm upper limb exoskeleton rehabilitation training device - Google Patents

Abstract

The utility model provides an adjustable single-arm upper limb exoskeleton rehabilitation training device, which is characterized in that a back component can slide on a basic upright post along a first direction, a shoulder blade component can slide on the back component along a second direction and move along with the back component, a large arm component is rotationally connected with the shoulder blade component and used for fixing a large arm of a patient, a small arm component is rotationally connected with the large arm component and used for fixing a small arm of the patient, and a wrist component is rotationally connected with the small arm component and is held by the patient. The back component can slide on the foundation upright post along the first direction, so that the height of the exoskeleton can be adjusted according to the height when a patient wears the upper limb exoskeleton; the shoulder blade assembly slides on the back assembly along the second direction, and the exoskeleton can be transversely adjusted according to the width of the shoulder blade of the patient, so that the upper limb exoskeleton is convenient to put on and take off; in addition, through the setting of shoulder blade subassembly, big arm subassembly, forearm subassembly and wrist subassembly, can form the multiple rigid body series connection motion chain of a plurality of degrees of freedom, realize multiple rehabilitation action and use in combination, satisfy different rehabilitation training requirements.

Description

Adjustable single-arm upper limb exoskeleton rehabilitation training device

Technical Field

The utility model relates to the technical field of medical equipment, in particular to an upper limb exoskeleton.

Background

At present, the number of upper limb functional disorders caused by cerebral apoplexy, industrial injury, traffic accidents and other factors is increasing, and the patient population such as cerebral apoplexy, spinal injury and the like is expanding further. These patients need to cooperate with scientific rehabilitation training programs besides surgery or medication. The therapists of the rehabilitation department and the rehabilitation hospital generally adopt manual operation to help the patient to complete the appointed action, the working mode has high labor intensity, the accuracy and consistency of the completed action are difficult to ensure, and the rehabilitation effect is poor.

As rehabilitation training equipment, the exoskeleton of the upper limb is required to be matched with the upper limb of a human body as strictly as possible, and the axes of the joints are required to be matched with each other. Because patient's height, half body type and upper limbs size are all different, therefore current upper limbs ectoskeleton design scheme mostly can't match with different patients, because the problem of disfitting exists, can't accomplish the action of each degree of freedom smoothly when training.

Disclosure of Invention

The utility model aims to: the utility model provides an adjustable single arm upper limbs ectoskeleton rehabilitation training device can adjust the position and the size of each part according to patient's size, caters to different patient's demands.

The technical scheme is as follows: an adjustable single arm upper limb exoskeleton rehabilitation training device comprising:

a base upright post, a base upright post and a base plate,

a back assembly slidable on the base upright in a first direction;

the shoulder blade assembly is slidably arranged on the back assembly along the second direction and moves along with the back assembly;

the large arm assembly is rotationally connected with the shoulder blade assembly and used for fixing the large arm of the patient;

the forearm assembly is rotationally connected with the big arm assembly and is used for fixing the forearm of a patient;

the wrist component is rotationally connected with the forearm component and is held by a patient.

Further, the back assembly slides on the base upright by a first guide mechanism.

Further, the scapular assembly slides over the back assembly via a second guide mechanism.

Still further, a locking assembly is provided on the second guide mechanism for securing the scapular assembly to the back assembly.

Further, the shoulder blade assembly comprises a shoulder first connector, a shoulder first driving part, a shoulder second connector and a shoulder second driving part; the first shoulder driving part is in sliding connection with the back assembly through a first shoulder connecting piece, the first shoulder driving part drives a second shoulder connecting piece to rotate around the first end, the second end of the second shoulder connecting piece is fixed with a second shoulder driving part, and the second shoulder driving part is in rotating connection with the large arm assembly.

Still further, the scapular assembly further includes a shoulder third drive member, a shoulder third connector, and a shoulder fourth connector; the shoulder third driving part is arranged on the upper side of the shoulder of the patient, the shoulder second driving part drives the shoulder third connecting piece to rotate around the first end, the second end of the shoulder third connecting piece is fixed with the shoulder third driving part, the shoulder third driving part drives the shoulder fourth connecting piece to rotate around the first end, and the second end of the shoulder fourth connecting piece is rotationally connected with the big arm assembly.

Further, the boom assembly includes a boom drive member, a boom first connector, a boom second connector, and at least one set of locking assemblies;

the large arm driving part is fixedly connected with the shoulder blade assembly and drives the large arm first connecting piece to rotate in a first plane;

the first end of the second connecting piece can be arranged at the second end of the first connecting piece of the big arm in a reciprocating manner along the first direction;

the locking assembly is arranged on the narrow side of the big arm first connecting piece or the big arm second connecting piece and is used for correspondingly locking the big arm second connecting piece or the big arm first connecting piece on the big arm first connecting piece or the big arm second connecting piece.

Further, the forearm assembly includes an elbow drive member, a support member, a rotation member, a forearm mount, a forearm drive member, and a housing member;

the elbow driving part is fixed on the large arm assembly and drives the supporting part to rotate in a first plane;

the support part is provided with a rotary support part for the small arm to pass through, and the rotary support part is provided with a central axis in a first direction;

the rotating part is driven by the forearm driving part and is arranged on the rotating supporting part in a reciprocating manner in a second plane around the central axis;

the forearm fixing piece is fixed on the forearm of the patient, connected with the rotating part and rotates along with the rotating part;

and a housing member covering the driving member and the rotation support portion of the support member.

Further, the wrist assembly includes a first rotational member, a second rotational member, a wrist first drive member, a wrist second drive member, and a grip member;

the first rotating component is fixedly connected with the forearm assembly and is driven by the wrist first driving component to rotate in a first plane;

a second rotating member connected to the first rotating member and driven to rotate in a third plane perpendicular to the first plane by a wrist second driving member;

a handle member connected to the second rotating member and perpendicular to the third plane.

Still further, be equipped with the grab handle part in, the grab handle is connected with the drive control, drive control connects drive shoulder blade subassembly, big arm subassembly, forearm subassembly and wrist subassembly.

The beneficial effects are that:

the back component can slide on the foundation upright post along the first direction, so that the height of the exoskeleton can be adjusted according to the height when a patient wears the upper limb exoskeleton; the shoulder blade assembly slides on the back assembly along the second direction, and the exoskeleton can be transversely adjusted according to the width of the shoulder blade of the patient, so that the upper limb exoskeleton is convenient to put on and take off; in addition, through the setting of shoulder blade subassembly, big arm subassembly, forearm subassembly and wrist subassembly, can form the multiple rigid body series connection motion chain of a plurality of degrees of freedom, realize multiple rehabilitation action and use in combination, satisfy different rehabilitation training requirements.

Drawings

FIG. 1 is a first perspective isometric view of a single arm upper extremity exoskeleton rehabilitation training device according to the present utility model;

FIG. 2 is a second perspective isometric view of the single arm upper extremity exoskeleton rehabilitation training device of the present utility model;

FIG. 3 is a front view of the single arm upper limb exoskeleton rehabilitation training device of the present utility model;

FIG. 4 is a left side view of the single arm upper limb exoskeleton rehabilitation training device of the present utility model;

FIG. 5 is a right side view of the single arm upper limb exoskeleton rehabilitation training device of the present utility model;

FIG. 6 is a schematic view of a foundation column structure;

FIG. 7 is an exploded view of the second guide mechanism;

FIG. 8 is an isometric view of the scapular assembly;

FIG. 9 is an isometric view of a large arm assembly;

FIG. 10 is a front view of the large arm assembly;

FIG. 11 is an enlarged view of a portion A of FIG. 10;

FIG. 12 is a side view of the large arm assembly;

FIG. 13 is a cross-sectional view of section B-B of FIG. 12;

FIG. 14 is an isometric view of a first large arm connector;

FIG. 15 is an isometric view of a second large arm connector;

FIG. 16 is an isometric view of a mount;

FIG. 17 is a top view of the mount;

FIG. 18 is a cross-sectional view taken along section C-C of FIG. 17;

FIG. 19 is a side view of the mount;

FIG. 20 is an isometric view of a drive plate;

FIG. 21 is an isometric view of a pressure member;

FIG. 22 is a bottom view of the press member;

FIG. 23 is a top view of the press member;

FIG. 24 is a cross-sectional view of section D-D of FIG. 23;

FIG. 25 is an isometric view of the forearm assembly from a first perspective with the housing member uncovered and the elbow drive not installed;

FIG. 26 is an isometric view of the forearm assembly from a second perspective with the housing member uncovered);

FIG. 27 is a schematic view of a support member structure;

FIG. 28 is a schematic view of the construction of the housing components;

figure 29 is a schematic view of the wrist assembly;

figure 30 is an exploded view of the wrist assembly;

FIG. 31 is a schematic view of a first rotating plate;

FIG. 32 is a schematic diagram of a structure of a second rotating plate;

fig. 33 is a schematic structural view of the grip member.

In the figure:

1-a back assembly, 2-a shoulder blade assembly, 3-a big arm assembly, 4-a small arm assembly and 5-a wrist assembly;

11-first backboard, 12-second backboard, 13-cross bar, 14-first chute, 15-first slider, 16-chute member, 17-slide member, 18-locking member, 19-second chute, 110-second slider, 111-guide slot;

201-shoulder first connection, 202-shoulder first drive motor, 203-shoulder second connection, 204-shoulder second drive motor, 205-shoulder third drive motor, 206-shoulder third connection, 207-shoulder fourth connection;

21-a large arm first connecting piece, 211-a first bolt hole; 212-a receiving surface;

22-a large arm second connecting piece, 221-a second bolt hole, 222-a slide slot hole, 223-a first through hole, 224-a second through hole;

23-a driving member;

24-mounting seats, 241-accommodating grooves, 242-screw holes and 243-raised strips;

25-moving blocks, 251-transmission plates, 252-pushing rods, 253-limiting parts and 254-first grooves;

26-an elastic member;

27-pressing piece, 271-slotted hole, 272-pressing surface, 273-second groove, 274-key position groove;

31-supporting parts, 311-rotating supporting parts, 312-driving supporting parts, 313-sliding ways, 314-transmission through holes and 315-clamping grooves;

32-elbow drive, 33-rotating part, 33 a-arc rack, 34-forearm fixing part, 35-forearm driving motor, 36-transmission gear, 37-housing part, 371-first housing, 372-second housing;

411-clamping part, 412-first circular ring part, 412 a-first arc limiting groove;

421-wrist first motor, 422-first rotating plate, 422 a-first limiting hole, 423-second circular ring portion, 423 b-second arc limiting groove;

431-wrist second motor, 432-second rotating plate, 432 b-second limiting hole, 433-positioning screw hole;

4411-first housing, 4412-second housing, 442-pressure sensor, 443-sensor mount, 444-shoe, 445-stopper, 446-linear chute, 447-ratchet fixed handle.

Detailed Description

An adjustable single-arm upper limb exoskeleton rehabilitation training device is shown in fig. 1-5, and the embodiment is described by taking a right arm exoskeleton as an example and comprises a foundation column, a back component 1, a shoulder blade component 2, a large arm component 3, a small arm component 4 and a wrist component 5.

The foundation stand includes foundation base and stand, and the stand is fixed on the foundation base. The back component 1 slides on the upright post through the first guiding mechanism, as shown in fig. 6, specifically, the back component comprises a first backboard 11, a second backboard 12 and four cross bars 13 connected with the first backboard and the second backboard, vertical first sliding grooves 14 are formed in two sides of the upright post, first sliding blocks 15 matched with the first sliding grooves 14 are arranged on the back surface of the second backboard 12, two first sliding blocks 15 are correspondingly arranged on each first sliding groove 14, and the first sliding blocks 15 slide in the first sliding grooves 14 to realize integral lifting of the back component 1.

The shoulder blade assembly 2 slides on the back assembly 1 through a second guiding mechanism, as shown in fig. 7, specifically, the second guiding mechanism includes a sliding groove part 16 fixed on the first backboard 11, a sliding part 17 fixed on the shoulder blade assembly 2, and a locking part 18, the sliding groove part 16 is transversely provided with a second sliding groove 19, the sliding part 17 is provided with a second sliding block 110 matched with the second sliding groove 19, and the second sliding block 110 transversely slides in the second sliding groove 19. Guide grooves 111 are formed in the upper side and the lower side of the sliding groove part 16, screw holes are formed in both ends of the locking part 18, one end of the locking part is fixed on the sliding part 17 through bolts, and the screw holes in the other end are used for the locking bolts to pass through and slide in the guide grooves 111 and screw tightly, so that the position of the shoulder blade assembly 2 is fixed.

As shown in fig. 8, the scapular assembly 2 includes a shoulder first connector 201, a shoulder first drive motor 202, a shoulder second connector 203, a shoulder second drive motor 204, a shoulder third drive motor 206, a shoulder third connector 205, and a shoulder fourth connector 207. The shoulder first driving motor 202 is connected to the sliding member 17 through a shoulder first connecting member 201, the shoulder first driving motor 202 drives the shoulder second connecting member 203 to rotate around the first end, and the second end of the shoulder second connecting member 203 is fixed to the shoulder second driving motor 204. The shoulder first driving motor 202 drives the shoulder second connecting piece 203 and the shoulder second driving motor 204 to rotate on the back of the patient, and the transverse distance between the shoulder first driving motor 202 and the shoulder second driving motor 204 is further adjusted according to the width of the shoulder blade of the patient, so that the patient can wear the exoskeleton according to the shoulder size of the patient. The shoulder third driving motor 206 is arranged on the upper side of the shoulder of the patient in a 45-degree inclined way, the shoulder second driving motor 204 drives the shoulder third connecting piece 205 to rotate around the first end, the second end of the shoulder third connecting piece 205 is fixed with the shoulder third driving motor 206, the shoulder third driving motor 206 drives the shoulder fourth connecting piece 207 to rotate around the first end, and the second end of the shoulder fourth connecting piece 207 is connected with the large arm assembly 3 in a rotating way.

The forearm assembly 3 is disposed on the outside of the patient's forearm, as shown in fig. 9-12, and includes a forearm drive motor, a forearm first connector 21, a forearm second connector 22, and a locking assembly.

As shown in fig. 13, the boom drive motor is fixed to the second end of the shoulder fourth link 207, and the output shaft of the boom drive motor is fixed to the first end of the boom first link 21, driving the boom first link 21 to rotate in the first plane about the first end.

The first connecting piece 21 of the big arm is fixed on the big arm of the patient, and the first bolt holes 211 are uniformly formed in the periphery of the first end and correspondingly connected with the output shaft of the big arm driving motor through bolts. The first arm connecting member 21 extends along the length direction of the arm of the patient, and the left and right sides of the first arm connecting member 21 are provided with receiving surfaces 212 in the length direction. As shown in fig. 14, the bottom end of the big arm second connecting piece 22 is also an annular end, the big arm second connecting piece 22 is connected with the elbow driving motor through second bolt holes 221 uniformly distributed along the circumference of the end, and the big arm second connecting piece 22 and the big arm first connecting piece 21 slide relatively, specifically, the big arm second connecting piece 22 is provided with a sliding slot hole 222 for the big arm first connecting piece 21 to slide in, the section of the big arm first connecting piece 21 is a boss matched with the sliding slot hole 222, the bearing surfaces 212 are arranged on two side surfaces of the boss, the tooth top surface of the bearing surface 212 and the inner wall of the sliding part 222 are in clearance fit, and the length of the adjustable big arm rehabilitation training mechanism is realized in the up-down sliding process.

The two sides of the big arm second connecting piece 22 are respectively provided with a group of locking components, the locking components are fixed on the big arm second connecting piece 22 on one hand, and the big arm first connecting piece 21 is pressed through the first through hole 223 on the side of the big arm second connecting piece 22 on the other hand.

Specifically, the locking assembly includes a driving member 23, a mounting seat 24, a transmission member 25, an elastic member 26, and a pressing member 27. As shown in fig. 15-18, the section of the mounting seat 24 is , and the inner side surface of the mounting seat 24 is also provided with a containing groove 241 for containing the transmission member 25 and the pressing member 27. The front and rear walls of the mounting base 24 have screw holes 242, and when the front and rear walls of the mounting base 24 are clamped to the outer side of the large-arm second connecting member 22, the mounting base 24 is mounted on the large-arm second connecting member 22 by screwing the fixing screws into the screw holes 242.

In this embodiment, the driving member 23 is a locking screw, and the driving member 23 is screwed into the mounting seat 24 from the outer side surface, so that the driving member 25 and the pressing member 27 in the accommodating groove 241 can be pushed. As shown in fig. 19, the transmission member 25 includes a transmission plate 251 and two push rods 252 fixed on the inner side of the moving plate, and a limiting portion 253 for fixing the end of the driving member 23 is provided on the outer side of the transmission member 25, and the limiting portion 253 is an annular protrusion, has an inner diameter equal to the outer diameter of the driving member 23, and can limit the pushing direction of the driving member 23 without deflection. The two push rods 252 of the transmission member 25 are respectively sleeved with an elastic member 26, as shown in fig. 20-24, the outer side surface of the pressing member 27 is provided with a slot 271 into which the push rod extends, and the inner side surface of the pressing member 27 is provided with a pressing surface 272 matched with the bearing surface 212. The size of the abutment 27 is slightly smaller than the first through hole 223 in the large arm second connector 22 so that the abutment 27 is free to move laterally in the first through hole 223 of the limb movement assembly 27.

The driving piece 23 is screwed into the mounting seat 24 and is limited in the limiting part 253 of the transmission plate 251, and in the process of pushing the transmission plate 251, the push rod 252 stretches into the slotted hole 271 of the pressing piece 27 and pushes the pressing surface 272 of the pressing piece 27 to be pressed and meshed on the bearing surface 212 of the big arm first connecting piece 21 against the elastic force of the spring, so that the position locking of the big arm first connecting piece 21 and the big arm second connecting piece 22 is realized.

In order to further ensure the stable pushing direction in the locking process, the upper end and the lower end of the accommodating groove 241 of the mounting seat 24 are provided with raised strips 243, the two ends of the driving plate 251 of the driving member 25 are provided with first grooves 254 matched with the raised strips 243, and the two ends of the pressing member 27 are provided with second grooves 273 matched with the raised strips 243. The driving member 25 and the pressing member 27 are both movable along the direction of the protruding strips 243 by the driving member 23.

The front wall of the pressing member 27 has a key slot 274, the corresponding front wall of the large arm second connecting member 22 has a corresponding second through hole 224, and a pin is inserted in the second through hole 224 and the key slot 274, so that the movement distance of the pressing member 27 can be limited within the range a shown in fig. 8, and limiting is performed.

The forearm assembly 4, as shown in fig. 25 and 26, includes a support member 31, an elbow drive 32, a swivel member 33, a forearm mount 34, a forearm drive member, and a housing member 37.

As shown in fig. 27, the support member 31 includes a rotation support portion 311 and a drive support portion 312. The rotation support portion 311 is a C-shaped member, and has a central axis and an opening for allowing the forearm to enter the rotation support portion 311. A sliding groove 313 is provided along the extending direction of the rotation support portion 311, and the rotation member 33 slides along the sliding groove 313, and since the rotation support portion 31 is C-shaped, the reciprocating sliding of the rotation member 33 realizes the reciprocating rotation thereof in the second plane around the central axis of the rotation support portion 311.

Specifically, the rotating member 33 further includes a rotating portion, the rotating portion has a C shape, and the outer side of the rotating portion is a sliding rail capable of sliding reciprocally in the sliding groove 313 on the inner side of the rotating support portion 311, and the arc-shaped rack 33a is disposed on the outer side of the rotating portion and located on the second side of the rotating support portion 311. Naturally, the slide groove 313 may be opened outside the rotation portion, and the slide rail may be provided inside the rotation support portion 311, so that the rotation member 33 may be reciprocally rotated in the rotation support portion 311.

In addition, a screw hole is formed in the elbow driving member 32 of the rotation supporting portion 3, and the elbow driving member 32 is used for being connected with an elbow driving motor, so that the bottom end of the large arm second connecting member 22 is rotatably connected with the rotation supporting portion 311 in the first plane. The rotating member 33 is provided with an arm fixing member 34 on a first side of the chute 313, and is fixed to the arm of the patient.

The arm driving part includes an arm driving motor 35 and a transmission gear 36, and is mounted on a driving support portion 312 of the support part 31. Specifically, the driving support portion 312 is disposed on the opposite side of the rotation support portion 311, and is provided with a transmission through hole 314. The forearm driving motor 35 is mounted on the first side of the transmission through hole 314, and the driving motor 35 of the embodiment is a servo motor integrated with a planetary reduction gear structure, and has the advantages of small volume, high-speed running, high rotating speed and large torque while having a driving function. The transmission gear 36 is mounted on the second side of the transmission through hole 314, and the output shaft of the forearm drive motor 35 passes through the transmission through hole 314 to be connected with the center of the transmission gear 36. The transmission gear 36 is engaged with the arc-shaped rack 33a of the rotating member 33, and the forearm drive motor 35 drives the transmission gear 36 to rotate in a forward and reverse direction, so that the rotating member 33 can be driven to slide in both directions in the rotation support portion 311 of the supporting member 31. By adopting a gear transmission mode, the structure compactness can be improved, and the volume of the whole structure can be reduced.

The housing part 37 is disposed on the second side of the supporting part 31, as shown in fig. 28, and includes a first housing 371 and a second housing 372 which are connected, and the first housing 371 and the second housing 372 respectively correspond to the side profiles of the transmission gear 36 and the rotation supporting part 311 of the supporting part 31, for closing the transmission gear 36 and the arc-shaped rack 33a in the inner space, so that the teeth parts of the transmission gear 36 and the arc-shaped rack 33a can be protected, on one hand, to avoid foreign matters and dust from entering the damaged gear, and on the other hand, to avoid the patient from being pinched by the teeth parts during use. Wherein, the supporting member 31 is provided with a clamping groove 315 for inserting the housing member 37, and the extending track of the clamping groove 315 is the same as the outer contour of the housing member 37. The housing part 37 is fixed by glue after being inserted into the clamping groove 315, so that the mounting is convenient. In addition, the housing part 37 is made of acrylic material, so that the weight of the whole rehabilitation mechanism can be reduced.

The wrist assembly 5, as shown in fig. 29 and 30, includes a first rotation member, a second rotation member, a first limit member, a second limit member, a grip member, and a drive control.

The forearm fixing member 34 extends along the forearm direction, is fixed on the forearm of the patient through the clamping portion 11, and one end of the forearm fixing member 34, which is close to the wrist joint, is provided with a first annular portion 412, and the first annular portion 412 is fixed on the outer ring of the wrist first motor 421 through bolts.

The first rotation means comprises a wrist first motor 421 and a first rotation plate 422, the first rotation plate 422 being a 90 ° flap, as shown in fig. 31. The first end of the first rotating plate 422 has a connection portion fixed to the wrist first motor 421, and the connection portion is a circular protrusion adapted to the first annular portion 412, and can pass through the first annular portion 412 to be abutted to the output shaft of the wrist first motor 421 and be fixed by a bolt. The wrist first motor 421 drives the first rotation plate 422 to rotate in a first plane. The first limiting part comprises a first arc-shaped limiting groove 412a, a first limiting hole 422a and a first limiting screw, the first arc-shaped limiting groove 412a is formed in the annular surface of the first annular ring 412 facing the first rotating plate 422, the first limiting hole 422a is correspondingly formed in the first end edge of the first rotating plate 422, and the first limiting screw can slide in the first arc-shaped limiting groove 412a through the first limiting hole 422a, so that the rotation range of the first rotating plate 422 is limited.

The second rotating member includes a wrist second motor 431 and a second rotating plate 432, and a second annular portion 423 is provided at a second end of the first rotating plate 422, and the second annular portion 423 is fixed to an outer ring of the wrist second motor 431 by a bolt. As shown in fig. 32, the first end of the second rotary plate 432 has a connection portion fixed to the wrist second motor 431, and the connection portion is a circular projection fitted to the second circular ring portion 423, and can be abutted to an output shaft of the wrist second motor 431 through the second circular ring portion 423 and fixed by a bolt. The wrist second motor 431 drives the second rotating plate 432 to rotate in the third plane. The second limiting component comprises a second arc limiting groove 423b, a second limiting hole 432b and a second limiting screw, the second arc limiting groove 423b is formed in the annular surface of the second annular portion 423 facing the second rotating plate 432, a corresponding second limiting hole 432b is formed in the edge of the first end of the second rotating plate 432, and the second limiting screw penetrates through the second limiting hole 432b to interact in the second arc limiting groove 4b, so that the rotation range of the second rotating plate 432 is limited.

As shown in fig. 33, the grip member includes a post, a pressure sensor 442, and a bottom connector, the pressure sensor 442 being coupled to the drive control. The pressure sensor 442 of the present embodiment is a single-point sensor, and is disposed in the column. The post is a cylinder made up of two parts, a first housing 4411 having a top surface and half of the side surface of the post and a second housing 4412 having the other half of the side surface of the bottom surface of the post. The first housing 4411 and the second housing 4412 are fixed to opposite sides of the pressure sensor 442 by bolts, respectively, while leaving a certain gap between the first housing 4411 and the second housing 4412. After the patient holds the post, the two shells are squeezed if a grip is provided and the grip is transferred to the pressure sensor 442. Thus, the grip member can measure the presence or absence and magnitude of the grip of the patient.

The bottom connection includes a sensor mount 443, a shoe 444, and a stop 445. The bottom of the pressure sensor 442 and its housing is secured to a sensor securing member 443, and the sensor securing member 443 is mounted and secured within the shoe 444. One end of the limiting piece 445 is fixed on the outer wall of the bottom bracket 444 and extends out, a linear chute 446 is arranged on the limiting piece 445, and a ratchet type fixed handle 447 is matched with the linear chute 446.

The second end of the second rotary plate 432 is provided with a positioning screw hole 433 corresponding to the linear chute 446, and the screw rod of the ratchet type fixing handle 447 passes through the bottom of the linear chute 446 upwards to enter the positioning screw hole 433 to be screwed, and the ratchet type fixing handle 447 can be fixed at the position of the linear chute 446 by pressing the handle of the ratchet type fixing handle 447. In this way, the relative distance of the grip member to the second rotational member can be adjusted, locked by the ratchet-type fixed handle 447.

The pressure sensor 442 transmits pressure signals to the drive control, which controls all of the drive motors, the large arm drive motor, the elbow drive motor, the small arm drive motor 35, the wrist first motor 421 and the wrist second motor 431 of the scapula assembly 2 to operate. The driving control can be realized in various existing forms such as PLC, PCB and the like.

In use, the height of the back assembly 1 on the upright post is adjusted according to the height of a patient, the shoulder blade assembly 2 slides on the back assembly 1, the shoulder first driving motor 202 drives the shoulder second connecting piece 203 to rotate, and the lateral adjustment is adjusted according to the width of the patient's scapula. The arm first connector 21 is fixed to the patient's arm, the arm fixing member 41 is fixed to the patient's arm by the grip 411, and the relative positions of the second rotary plate 432 and the stopper 445 are adjusted according to the length of the patient's wrist joint by trying to hold the upright of the grip member with the hand, and locked by the ratchet type fixing knob 447.

After the upright post is held, if the pressure sensor 442 senses that the hand of the patient does not have grip, a signal is transmitted to the driving control, and the driving control actively drives the shoulder second driving motor 204, the shoulder third driving motor 206, the large arm driving motor, the elbow driving motor, the forearm driving motor 35, the wrist first motor 421 and the wrist second motor 431 to act.

The shoulder second driving motor 204 drives the shoulder third connecting piece 205 to rotate, and the shoulder abduction/adduction actions are completed. After the shoulder is abducted, the elbow drive motor drives the support member 31 to rotate in the first plane, thereby realizing the rotation in/out action of the large arm. The third driving motor 206 drives the fourth connecting piece 207 to rotate, thus completing the forward 45-degree lifting action of the large arm. The large arm driving motor drives the large arm first connecting piece 21 to rotate in the first plane, and drives the shoulder of the patient to complete buckling/stretching actions. The elbow driving motor drives the supporting member 31 to rotate in the first plane, and the elbow buckling/stretching action is realized. The forearm driving motor 35 drives the transmission gear 36 to rotate, and then the transmission gear 36 drives the arc-shaped rack 33a to drive the rotating part 33 to slide back and forth in the rotating supporting part 311 of the supporting part 31, so that the patient is helped to realize the rotation of the forearm. The first motor 421 on the wrist drives the first rotating plate 422 on the wrist to rotate in the first plane, so as to help the patient to complete the ulnar deviation and radial deviation of the wrist joint, and the second motor 431 on the wrist drives the second rotating plate 432 to rotate in the third plane, so as to help the patient to complete the palmar flexion and dorsiflexion of the wrist joint.

If the pressure sensor 442 senses that the hand of the patient has grip strength, the pressure signal is transmitted to the driving control; the patient may attempt to do so by self muscle force. Under the condition that the patient cannot smoothly complete the actions, the driving control drives all motors to assist the patient, and the force required by the patient to smoothly complete the actions is compensated.

Claims (9)

1. An adjustable single arm upper limb exoskeleton rehabilitation training device, comprising:

a base upright post, a base upright post and a base plate,

-a back assembly (1) slidable on a base upright in a first direction;

a shoulder blade assembly (2) slidably disposed on the back assembly (1) in a second direction and moving with the back assembly;

the shoulder blade assembly (2) comprises a shoulder first connecting piece, a shoulder first driving part, a shoulder second connecting piece and a shoulder second driving part; the shoulder first driving part is in sliding connection with the back assembly (1) through a shoulder first connecting piece, the shoulder first driving part drives the shoulder second connecting piece to rotate around the first end, the second end of the shoulder second connecting piece is fixed with the shoulder second driving part, and the shoulder second driving part is in rotating connection with the big arm assembly;

the large arm assembly (3), the large arm assembly (3) is rotatably connected with the shoulder blade assembly (2) and is used for fixing the large arm of a patient;

the forearm assembly (4) is rotationally connected with the big arm assembly (3) and is used for fixing the forearm of a patient;

the wrist component (5), wrist component (5) and forearm component (4) rotate to be connected, and supply the patient to hold.

2. The adjustable single arm upper limb exoskeleton rehabilitation training device of claim 1 wherein the back assembly (1) slides on the foundation upright by a first guide mechanism.

3. The adjustable single arm upper limb exoskeleton rehabilitation training device as claimed in claim 1, wherein said shoulder blade assembly (2) slides on the back assembly (1) by a second guiding mechanism.

4. An adjustable single arm upper limb exoskeleton rehabilitation training device as claimed in claim 3, wherein a locking assembly is provided on said second guide mechanism for securing said shoulder blade assembly to a back assembly.

5. The adjustable single arm upper limb exoskeleton rehabilitation training device of claim 1 wherein the scapular assembly (2) further comprises a shoulder third drive member, a shoulder third connector and a shoulder fourth connector; the shoulder third driving part is arranged on the upper side of the shoulder of the patient, the shoulder second driving part drives the shoulder third connecting piece to rotate around the first end, the second end of the shoulder third connecting piece is fixed with the shoulder third driving part, the shoulder third driving part drives the shoulder fourth connecting piece to rotate around the first end, and the second end of the shoulder fourth connecting piece is connected with the big arm assembly.

6. The adjustable single arm upper limb exoskeleton rehabilitation training device of claim 1 wherein the forearm assembly (3) comprises a forearm drive member, a forearm first connector (21), a forearm second connector (22) and at least one set of locking assemblies;

the large arm driving part is fixedly connected with the shoulder blade assembly (2) and drives the large arm first connecting piece (21) to rotate in a first plane;

the first end of the second connecting piece (22) can be arranged at the second end of the large arm first connecting piece (21) in a reciprocating manner along the first direction;

the locking assembly is arranged on the narrow side of the big arm first connecting piece (21) or the big arm second connecting piece (22) and is used for locking the big arm second connecting piece (22) or the big arm first connecting piece (21) on the big arm first connecting piece (21) or the big arm second connecting piece (22) correspondingly.

7. The adjustable single arm upper limb exoskeleton rehabilitation training device of claim 1 wherein the forearm assembly (4) comprises an elbow drive member, a support member (31), a rotation member (33), a forearm fixture (34), a forearm drive member and a housing member (37);

the elbow driving part is fixed on the large arm assembly (3) and drives the supporting part (31) to rotate in a first plane;

the support member (31) is provided with a rotation support part (311) through which the forearm passes, the rotation support part (311) having a central axis in a first direction;

the rotating part (33) is driven by the forearm driving part and is arranged on the rotating supporting part (311) in a reciprocating rotation mode in a second plane around the central axis;

the forearm fixing piece (34) is fixed on the forearm of the patient, is connected with the rotating part (33) and rotates along with the rotating part (33);

and a housing member (37), wherein the housing member (37) covers the drive member and the rotation support portion (311) of the support member (31).

8. The adjustable single arm upper limb exoskeleton rehabilitation training device of claim 1 wherein the wrist assembly (5) comprises a first rotational member, a second rotational member, a wrist first drive member, a wrist second drive member and a grip member;

the first rotating component is fixedly connected with the forearm assembly (4) and is driven by the wrist first driving component to rotate in a first plane;

a second rotating member connected to the first rotating member and driven to rotate in a third plane perpendicular to the first plane by a wrist second driving member;

a handle member connected to the second rotating member and perpendicular to the third plane.

9. The adjustable single-arm upper limb exoskeleton rehabilitation training device as claimed in claim 8, wherein a grip sensor (442) is arranged in the grip part, and the grip sensor (442) is connected with a driving control, and the driving control is connected with and drives the scapula assembly (2), the big arm assembly (3), the forearm assembly (4) and the wrist assembly (5).