CN-116650283-B - Arm-wrist mixed upper limb rehabilitation robot

CN116650283BCN 116650283 BCN116650283 BCN 116650283BCN-116650283-B

Abstract

The invention relates to the field of rehabilitation auxiliary training machinery, in particular to an arm-wrist mixed upper limb rehabilitation robot. The plane motion module is connected with an electric push rod of the overturning motion module through an upper connecting lug at the bottom of the motion platform, the bottom of one side of the plane motion module is hinged with a rotating shaft, a fifth bearing and an eighth bearing matched with the overturning motion module through bearing seats, the electric push rod is driven to swing around the rotating shaft in a lifting mode to finish elbow joint buckling/stretching mode, the exoskeleton wrist module is installed on an end effector of the plane motion module through a wrist joint base, a grab handle used for holding a palm is installed on an inner rotating component and an outer rotating component of the exoskeleton wrist module, the wrist joint is enabled to finish inner rotation/outer rotation, palm bending/dorsiflexion and deflection/ulnar deflection through the exoskeleton wrist module, the end effector has 2 degrees of freedom, and rehabilitation training is carried out on the whole upper limb of a patient through cooperation with the exoskeleton wrist module simultaneously, so that various rehabilitation actions are realized, and the rehabilitation requirements of different patients are met.

Inventors

SHAN QUAN
ZHANG SHUN
HUANG JIANCONG
CHEN YAN

Assignees

东北大学秦皇岛分校

Dates

Publication Date: 20260512
Application Date: 20230608

Claims (8)

1. The arm-wrist hybrid upper limb rehabilitation robot is characterized by comprising a plane movement module, a turnover movement module and an exoskeleton wrist module, wherein the plane movement module is connected with an electric push rod of the turnover movement module through an upper connecting lug at the bottom of a movement platform, one side bottom of the plane movement module is hinged with a rotating shaft, a fifth bearing and an eighth bearing matched with the turnover movement module through a bearing seat, the electric push rod is used for driving the plane movement module to swing around the rotating shaft to complete elbow joint buckling/stretching; the exoskeleton wrist module comprises a wrist joint base, an arm support, a stepping motor, a ninth bearing, a flexible rule bias component, a first flange plate, a grab handle, an inner and outer rotating component, a second flange plate, a tenth bearing, a first moving groove, a vertical plate, a disc and a limit screw, and has the following specific structure: The arm support is connected with the upper surface of the wrist joint base through a bolt, the lower surface of the wrist joint base corresponds to the upper surface of the end effector, the exoskeleton wrist module is connected with the end effector of the plane motion module through the wrist joint base, one side of the upper surface of the wrist joint base is relatively and parallelly integrally provided with a vertical plate, the flexible rule bias member is of a concave plate structure, the end parts of two opposite side plates of the flexible rule bias member are respectively positioned at the inner sides of the vertical plates, and one side plate of the flexible rule bias member is connected with one vertical plate of the wrist joint base through a bolt; The disc is arranged on the outer side of one vertical plate and is connected with the vertical plate through a bolt, and an output shaft of the stepping motor is connected with a central hole of the disc through a ninth bearing; the inner side of the other side plate of the flexible ruler biasing member is provided with a first flange, the first flange is fixedly connected with the flexible ruler biasing member and the other vertical plate through screws, a central shaft of the first flange is connected with an output shaft of a stepping motor, and the stepping motor drives the first flange and the flexible ruler biasing member to realize the rotation of the flexible ruler biasing member; The inner and outer rotating members are of concave plate-shaped structures, a grab handle is arranged between two opposite side plates of the inner and outer rotating members, waist-shaped first moving grooves are respectively formed in the two opposite side plates of the inner and outer rotating members, limit screws at two ends of the grab handle are inserted into the first moving grooves, the grab handle is in sliding fit with the first moving grooves through the limit screws, a bottom plate of the inner and outer rotating members is disc-shaped, a second flange plate is arranged on the inner side of the bottom plate of the inner and outer rotating member through screws, a central shaft of the second flange plate penetrates through the bottom plate of the inner and outer rotating member and is connected with a tenth bearing arranged at a central hole of the bottom plate of the flexible ruler biasing member, and after the central shaft of the second flange plate is matched with the tenth bearing, the inner and outer rotating members and the flexible ruler biasing members are relatively rotated; in order to ensure the safety of rehabilitation training, a limiting groove is designed at a vertical plate on the inner and outer rotating members and the wrist joint base, wherein an arc-shaped first limiting groove is formed in a disc-shaped bottom plate of the inner and outer rotating members, a first limiting rod is arranged on the surface, corresponding to the first limiting groove, of the bottom plate of the flexible ruler biasing member, the swinging range of the first limiting rod is limited through the first limiting groove, the swinging angle of the inner and outer rotating members is further limited, an arc-shaped second limiting groove is formed in one vertical plate on the wrist joint base, a second limiting rod is arranged on the surface, corresponding to the second limiting groove, of the vertical plate, the swinging range of the second limiting rod is limited through the second limiting groove, and the swinging angle of the flexible ruler biasing member is further limited.
2. The arm-wrist hybrid upper limb rehabilitation robot according to claim 1, wherein in the planar motion module, the motion platform is of a square frame structure, a first sliding rod is arranged at the top of a right frame of the motion platform, a third sliding rod and a first ball screw are arranged at the top of a left frame of the motion platform in a relatively parallel manner, the first connecting rod is perpendicular to the first sliding rod, the third sliding rod and the first ball screw, one end of the first connecting rod is sleeved on the first sliding rod and is in sliding fit with the first sliding rod through a third gasket, the other end of the first connecting rod is sleeved on the third sliding rod and the first ball screw, the first connecting rod is in threaded transmission connection with the first ball screw through a first screw connecting piece, a first sliding block is sleeved on the first connecting rod and is in sliding fit with the first sliding rod through a fifth gasket, the top of the first sliding block is provided with an end effector, the first connecting rod is connected with the first ball screw through the first gasket and the third gasket, and the second screw on the end effector is connected with the second screw on the end effector through the fifth gasket.
3. The arm-wrist hybrid upper limb rehabilitation robot according to claim 2, wherein a second sliding rod is installed at the top of a rear frame of the motion platform, a fourth sliding rod and a second ball screw are installed at the top of a front frame of the motion platform in a relatively parallel manner, a second connecting rod is perpendicular to the second sliding rod, the fourth sliding rod and the second ball screw, one end of the second connecting rod is sleeved on the second sliding rod and is in sliding fit with the second sliding rod through a fourth gasket, the other end of the second connecting rod is sleeved on the fourth sliding rod and is in sliding fit with the fourth sliding rod through a second screw connecting piece and is in threaded transmission connection with the second ball screw, a second sliding block is sleeved on the second connecting rod and is in sliding fit with the second sliding block through a sixth gasket, the second sliding block and the first sliding block are arranged up and down and are connected, the second connecting rod is connected with the motion platform through the second gasket and the fourth gasket, the connection with the second ball screw is realized through the second screw connecting piece, and the connection with the first sliding block on the end effector is realized through the sixth gasket.
4. The arm-wrist hybrid upper limb rehabilitation robot according to claim 2, wherein a first servo motor is arranged on the outer side of a rear frame of the motion platform, the first servo motor is fixedly connected with the motion platform through a bolt and is connected with one end of a first ball screw through a first coupler, two ends of the first ball screw are respectively connected with the motion platform through a first bearing and a second bearing, the first ball screw is driven to rotate through the first servo motor, and the end effector is further driven to move back and forth through a second connecting rod.
5. The arm-wrist hybrid upper limb rehabilitation robot according to claim 2, wherein a second servo motor is arranged on the outer side of the right frame of the motion platform, the second servo motor is fixedly connected with the motion platform through a bolt and is connected with one end of a second ball screw through a second coupler, two ends of the second ball screw are respectively connected with the motion platform through a third bearing and a fourth bearing, the second ball screw is driven to rotate through the second servo motor, and the end effector is further driven to move left and right through a first connecting rod.
6. The arm-wrist hybrid upper limb rehabilitation robot according to claim 1, wherein the overturning movement module comprises a frame, an electric push rod, a rotating shaft, a fifth bearing, a sixth bearing, a seventh bearing, an eighth bearing and a lower connecting lug, and the specific structure is as follows: The frame is of a cuboid type frame structure, a lower connecting lug is arranged on a connecting rod in the middle of a frame bottom frame, the lower end of an electric push rod is hinged with the lower connecting lug, the upper end of the electric push rod is hinged with an upper connecting lug at the bottom of a moving platform, the electric push rod is connected with the frame and the moving platform through bolts, a rotating shaft is arranged on a left frame of the frame top frame through a sixth bearing and a seventh bearing, two ends of the rotating shaft are connected with a bearing seat at the bottom of one side of the moving platform through a fifth bearing and an eighth bearing respectively, the upper end of the electric push rod is a telescopic end, the moving platform is driven to swing along the rotating shaft through the upper end of the electric push rod, the frame is connected with the moving platform through the rotating shaft, the frame is fixedly connected with the sixth bearing and the seventh bearing, and the moving platform is fixedly connected with the fifth bearing and the eighth bearing, and the rotating shaft is fixedly connected with the fifth bearing, the sixth bearing, the seventh bearing and the eighth bearing.
7. The arm-wrist hybrid upper limb rehabilitation robot according to claim 1, wherein the palm is fixed to the grab handle, the wrist joint internal rotation/external rotation rehabilitation training is achieved through rotation of the internal rotation member and the external rotation member, the grab handle is perpendicular to the flexible rule deflection member, the wrist joint flexible deflection/rule deflection rehabilitation training is achieved through rotation of the flexible rule deflection member, the grab handle is parallel to the flexible rule deflection member, and the wrist joint palm flexion/dorsiflexion rehabilitation training is achieved through rotation of the flexible rule deflection member.
8. The arm-wrist hybrid upper limb rehabilitation robot according to claim 1 is characterized in that in order to match the palm sizes of different patients, the exoskeleton wrist module is provided with moving grooves at the inner and outer rotating members and the wrist joint base respectively, wherein first moving grooves are respectively formed on two opposite side plates of the inner and outer rotating members, limit screws at two ends of the grab handle are in sliding fit with the corresponding first moving grooves, the grab handle is fixed on the inner and outer rotating members after the position of the grab handle is adjusted by sliding the limit screws in the first moving grooves, the second moving grooves on the wrist joint base are arranged oppositely, bolts connected with the wrist joint base are respectively penetrated in the second moving grooves, and the positions of the arm support are adjusted by fixing the bolts at different positions of the second moving grooves.

Description

Arm-wrist mixed upper limb rehabilitation robot Technical Field The invention relates to the field of rehabilitation auxiliary training machinery, in particular to an arm-wrist mixed upper limb rehabilitation robot. Background With age, the functions of all aspects of the limb begin to decline significantly, and the body's mobility is continually decreasing. In addition, many pains and accidental injuries can damage joints and muscle tissues of the human body, and many patients need to be treated by surgery. Medical research shows that the postoperative scientific rehabilitation training is beneficial to the recovery of the motor function of the patient with limb injury. However, the current professional caregivers are very lacking. On the one hand, caregivers need to perform rehabilitation training for a plurality of postoperative patients, so that the time spent on the same patient is very limited. On the other hand, caregivers easily feel tired due to repeated rehabilitation operations, and the rehabilitation effect is affected. The rehabilitation robot can accurately repeat the preset movement track for a long time, and does not need excessive participation of doctors and nursing staff in the auxiliary training process. Therefore, the robot is used for rehabilitation auxiliary training, and a plurality of problems existing in the manual auxiliary training process can be effectively solved. Currently, rehabilitation robots are mainly divided into two types, namely, end traction rehabilitation robots and exoskeleton rehabilitation robots. Among them, exoskeleton type rehabilitation robots are favored because of their advantages of simple structure, high flexibility, easy control, etc. However, most of the end traction type upper limb rehabilitation robots on the market can only perform rehabilitation action training on shoulders and elbows, and cannot perform more abundant and efficient action training by combining with wrist joints of a human body. Moreover, due to the lack of a wrist assembly, the wrist joint cannot be reasonably adjusted in the upper limb rehabilitation training process, so that the human wrist joint is damaged to different degrees. Disclosure of Invention Aiming at the problems, the invention aims to provide the arm-wrist hybrid upper limb rehabilitation robot which can perform more abundant and effective rehabilitation training by adding the exoskeleton wrist module, and the wrist joint can be dynamically regulated in the rehabilitation training process due to the addition of the exoskeleton wrist module, so that the occurrence of the damage condition of the wrist joint is avoided. The technical scheme of the invention is as follows: The arm-wrist hybrid upper limb rehabilitation robot comprises a plane motion module, a turnover motion module and an exoskeleton wrist module, wherein the plane motion module is connected with an electric push rod of the turnover motion module through an upper connecting lug at the bottom of a motion platform, one side bottom of the plane motion module is hinged with a rotating shaft, a fifth bearing and an eighth bearing matched with the turnover motion module through bearing seats, the electric push rod is used for driving the plane motion module to swing around the rotating shaft to complete elbow joint buckling/stretching, the exoskeleton wrist module is arranged on an end effector of the plane motion module through a wrist joint base, a grab handle for holding by a palm is arranged on an inner rotating member and an outer rotating member of the exoskeleton wrist module, and the wrist joint is enabled to complete inner rotation/outer rotation, palm buckling/back buckling and deflection/ruler deflection through the exoskeleton wrist module, and the end effector has 2 degrees of freedom and is matched with the exoskeleton wrist module. The arm-wrist hybrid upper limb rehabilitation robot comprises a plane motion module, wherein a motion platform is of a square frame structure, a first sliding rod is arranged at the top of a right frame of the motion platform, a third sliding rod and a first ball screw are arranged at the top of a left frame of the motion platform in a relatively parallel mode, the first connecting rod is perpendicular to the first sliding rod, the third sliding rod and the first ball screw, one end of the first connecting rod is sleeved on the first sliding rod and is in sliding fit with the first sliding rod through a third gasket, the other end of the first connecting rod is sleeved on the third sliding rod and is in sliding fit with the third sliding rod through a first screw connecting piece and is in threaded transmission connection with the first ball screw, a first sliding block is sleeved on the first connecting rod and is in sliding fit with the first sliding block through a fifth gasket, an end effector is arranged at the top of the first sliding block, the first connecting rod is connected with the motion platform through t