CN109009875A - Personalized upper-limbs rehabilitation training robot - Google Patents

Abstract

The invention discloses a personalized upper limb rehabilitation training robot, comprising a base support module, a multi-position seat module detachably arranged on the base support module, and a shoulder joint self-adaptive movement module arranged on the base support module And the seven-degree-of-freedom upper limb rehabilitation training mechanical arm arranged on the shoulder joint adaptive movement module; the seven-degree-of-freedom upper limb rehabilitation training mechanical arm; An elbow joint movement module connected in series and a shoulder joint movement module connected in series with the other end of the elbow joint movement module through an upper arm size adjustment module. The personalized upper limb rehabilitation training robot of the present invention can allow patients with different rehabilitation stages, different symptoms, and different body types to perform upper limb rehabilitation training, and is suitable for upper limb dysfunction caused by diseases of the central nervous system, peripheral nerves, spinal cord, muscles or bones. Patients with limited function.

Description

Personalized upper limb rehabilitation training robot

technical field

The invention relates to the field of training rehabilitation equipment, in particular to a personalized upper limb rehabilitation training robot.

Background technique

Due to the increase of human age, the increase of traffic accidents, the gradual increase of sports-related joint injuries, the increase in the incidence of stroke and hemiplegia, and other factors, the number of patients with limb injuries is increasing, which greatly affects human beings. health and daily life. Both medical theory and clinical medicine have proved that in addition to early drug treatment and surgical treatment, it is necessary for patients with such limb injuries to carry out scientific, accurate and appropriate limb rehabilitation training.

In traditional physical rehabilitation training, nurses or rehabilitation physiotherapists assist patients to complete joint, muscle and ligament rehabilitation training to maintain the range of motion of the patient's joints and muscles, and to promote the early recovery of the patient's joint movement function. However, the traditional rehabilitation training methods have problems such as that the rehabilitation effect cannot be given timely feedback, the rehabilitation effect is affected by factors such as the doctor's own experience level, and the rehabilitation cost is high.

In the invention patent with the patent number CN102961235B, an upper limb rehabilitation training robot is disclosed, including a base, a support frame, a seat, a cantilever beam and an upper limb training mechanism, which can realize rotation of 4 to 6 degrees of freedom. However, since the upper limbs of the human body have 7 degrees of freedom, the upper limb rehabilitation training robot cannot satisfy the rehabilitation training of all degrees of freedom of the patient's upper limbs; The centers of rotation are coincident, and the deviation of the joint position will bring a sense of drag, resulting in secondary injury to the patient.

In the utility model patent with the patent number CN201743884U, an upper limb rehabilitation training robot is disclosed, including a base, an ergonomic seat, a rehabilitation robot arm and a human-computer interaction control cabinet. The center of the shoulder joint module of the upper limb rehabilitation training robot cannot be guaranteed to coincide with the rotation center of the glenohumeral joint of the human body during the rehabilitation training process, and the deviation of the joint position will bring a sense of drag, resulting in secondary injury to the patient.

In the invention patent with the patent number CN104873360B, a lasso-driven upper limb rehabilitation exoskeleton robot is disclosed, including wrist swing/adduction joints, forward flexion/extension joints, internal rotation/external rotation joints, elbow Front flexion/extension joints, shoulder flexion/extension joints, swing/adduction joints, internal rotation/external rotation joints, and lasso drive devices can realize the rotation of the patient's upper limbs in 7 degrees of freedom, but the The center of the shoulder joint module of the lasso-driven upper limb rehabilitation exoskeleton robot cannot guarantee to coincide with the rotation center of the glenohumeral joint of the human body during rehabilitation training, resulting in secondary injury to the patient. At the same time, the size adjustment of the forearm and upper arm of the upper limb rehabilitation exoskeleton robot is manually adjusted through the sliding notch and the lock nut, which is inefficient, and cannot record the size data of each patient, and cannot achieve rapid initial state restoration.

In the invention patent with the patent number CN102151215B, an upper extremity exoskeleton type rehabilitation mechanical arm is disclosed, which consists of a C-shaped outer track support on the shoulder, a track slider, a shoulder connecting rod, an upper arm connecting rod, a forearm connecting rod, and a wrist ring. The outer track support, the wrist swing link and the handle are composed, which can realize the movement of 7 degrees of freedom. But because this invention is not provided with drive element, therefore can't independently carry out rehabilitation training treatment to patient.

In the invention patent with the patent number CN103948485A, an exoskeleton-type upper limb rehabilitation robot is disclosed. The rehabilitation robot is composed of a driving part, a transmission part, and an execution part, and can simulate exercise therapy for rehabilitation training. But this rehabilitation robot can only complete two kinds of motions of elbow joint flexion/extension and forearm internal/external rotation, which is not conducive to the rehabilitation training of other joints of upper limbs.

Therefore, in view of the above-mentioned technical problems, it is necessary to provide a novel upper limb rehabilitation training robot to overcome the above-mentioned defects.

Contents of the invention

The technical problem to be solved by the present invention is to develop a personalized shoulder joint adaptive mobile module that can allow patients with different rehabilitation stages, different symptoms, and different body types to perform upper limb rehabilitation training for the above-mentioned deficiencies in the prior art. The upper limb rehabilitation training robot is suitable for patients with upper limb dysfunction or functional limitation caused by diseases of the central nervous system, peripheral nerves, spinal cord, muscles or bones.

In order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a personalized upper limb rehabilitation training robot, including a base support module, a multi-position seat module detachably arranged on the base support module, and a seat module arranged on the base A shoulder joint adaptive movement module on the support module and a seven-degree-of-freedom upper limb rehabilitation training mechanical arm arranged on the shoulder joint adaptive movement module;

The seven-degree-of-freedom upper limb rehabilitation training mechanical arm includes a wrist joint motion module, an elbow joint motion module connected in series with the wrist joint motion module through a forearm size adjustment module, and a connection between the upper arm size adjustment module and the elbow joint motion module. The other end is a shoulder joint motion module connected in series.

Preferably, the wrist joint motion module includes a dorsiflexion/palm flexion motion mechanism and an ulnar flexion/radial flexion motion mechanism connected in series, and the rotation axes of the two motion mechanisms are compared to the point Ow;

The ulnar flexion/radial flexion movement mechanism includes an ulnar flexion/radial flexion fixing plate, a first connection plate arranged on the ulnar flexion/radial flexion fixing plate, and a first speed reducer arranged on the first connecting plate , the first motor power-connected with the first reducer, the ulnar flexion/radial flexion shaft connected with the power output shaft of the first reducer, and the ulnar flexion/radial flexion shaft connected with the ulnar flexion/radial flexion shaft /radial flexion power output board, the first six-dimensional force sensor connected to the ulnar flexion/radial flexion power output board, the connection transition plate connected to the other end of the first six-dimensional force sensor and the connection transition The handle on the board; the first motor encoder arranged on the first motor and the first encoder fixed on the ulnar flexion/radial flexion shaft form a closed-loop loop to detect the movement of the ulnar flexion/radial flexion movement mechanism joint angle;

The dorsiflexion/palm flexion movement mechanism includes a dorsiflexion/palm flexion fixing plate, a second connection plate arranged on the dorsiflexion/palm flexion fixing plate, and a second speed reducer arranged on the second connection plate , a second motor power-connected to the second reducer, a dorsiflexion/palm flexion axis connected to the power output shaft of the second reducer, and a dorsiflexion axis connected to the dorsiflexion/palmflexion axis /palm flexion power output board; the second motor encoder arranged on the second motor and the second encoder fixed on the dorsiflexion/palm flexion rotation shaft form a closed-loop loop to detect the dorsiflexion/palm flexion Joint angles of flexion kinematics.

Preferably, the elbow joint motion module includes a flexion/hyperextension motion mechanism and a forearm pronation/supination motion mechanism connected in series, and the rotation axes of the two motion mechanisms are compared to the point Oe;

The flexion/hyperextension movement mechanism includes a flexion/hyperextension fixed support plate, a third connection plate arranged on the flexion/hyperextension fixed support plate, a third motor arranged on the third connection plate, and The transition shaft connected to the power output shaft of the third motor, the third speed reducer connected to the other end of the transition shaft, the buckling/overextension connection flange connected to the output end of the third speed reduction, and the The buckling/hyperextension PTO plate connected with the buckling/hyperextension connection flange and the first torque sensor arranged between the buckling/hyperextension connection flange and the buckling/hyperextension power output plate;

The buckling/hyperextension power output plate is rotatably supported on the buckling/hyperextension connecting flange through bearings and bearing end covers.

Preferably, the forearm pronation/supination movement mechanism includes a first arc-shaped track, a first slider arranged on the first arc-shaped track through a first bearing support, and a first slider arranged on the first arc-shaped track The fourth connection plate on the top, the fourth speed reducer set on the fourth connection plate, the fourth motor set at the other end of the fourth speed reducer and the drive connection with the output end of the fourth speed reducer The first drives the pinion, and the fourth motor drives the first slider, the fourth reducer, and the forearm size adjustment module to rotate around the forearm pronation/supination axis; the built-in encoder of the fourth motor is used to detect the Joint angles of forearm pronation/supination kinematic mechanism;

The flexion/hyperextension movement mechanism also includes a flexion/hyperextension auxiliary connecting plate fixed on the first arc-shaped track through a connection angle joint, and a flexion/hyperextension auxiliary connecting plate arranged at the other end of the flexion/hyperextension auxiliary connecting plate. Extension auxiliary rotation shaft and the third encoder fixed on the flexion/hyperextension auxiliary support plate through the flexion/hyperextension auxiliary sleeve, the built-in encoder of the third motor and the third encoder form a closed loop, and the detected Describe the joint angles of the flexion/hyperextension kinematic mechanism.

Preferably, the shoulder joint movement module includes a shoulder joint swing/adduction movement mechanism, a forward flexion/extension movement mechanism and an external rotation/internal rotation movement mechanism connected in series in sequence, and the rotation axes of the three movement mechanisms are compared. at point Os;

The swing-out/inward movement mechanism includes a swing-out/inward support plate, a swing-out/inward fixed support plate set on the swing-out/inward support plate, a fixed support plate set on the swing-out/inward support The fifth connection plate on the board, the fifth motor arranged on the fifth connection plate, the outward swing/inward rotation shaft connected to the power output shaft of the fifth motor, and the outward swing/inward The fifth reducer connected to the other end of the rotating shaft, the outward swing/inward swing output flange connected to the output end of the fifth reducer, the outward swing/inward swing connected to the outward swing/inward output flange The retracting power output board, the second torque sensor arranged between the fifth reducer and the outward swing/inward power output board, and the fourth encoder fixed on the outward swing/inward power output board; The built-in encoder of the fifth motor and the fourth encoder form a closed loop, which is used to detect the joint angle of the swing-out/adduction motion mechanism;

The external rotation/internal rotation movement mechanism includes a second arc track, a second slider set on the second arc track through a bearing, a sixth connecting plate set on the second slide block, a set The sixth speed reducer on the sixth connection plate, the sixth motor arranged at the other end of the sixth speed reducer, and the second drive pinion drivingly connected to the output end of the sixth speed reducer, the The sixth motor drives the second slider, the sixth reducer, the forearm size adjustment module and the wrist joint movement module to rotate around the shoulder joint external rotation/internal rotation axis; the built-in encoder of the sixth motor is used to detect external rotation / Joint angle of the pronation kinematics.

Preferably, the forearm size adjustment module includes a forearm size adjustment fixed support base connected to the first slider, a first linear guide rail fixed on the upper surface of the forearm size adjustment fixed support base, and a sliding arrangement on the forearm size adjustment fixed support base. The third slider on the first linear guide rail, the first push rod connected with the third slider and the forearm size adjustment sliding plate fixed on the upper surface of the third slider, the forearm size adjustment The module is used to automatically adjust the distance between the points Ow and Oe to adapt to the length and size of the forearm of different patients;

The upper arm size adjustment module includes an upper arm size adjustment fixed support plate connected to the second arc track, a second linear guide fixed to the side of the arm size adjustment fixed support plate, and a second linear guide rail that is slidably arranged on the second straight line. The fourth slider on the guide rail, the second push rod connected with the fourth slider and the forearm size adjustment sliding plate fixed on the side of the fourth slider, the upper arm size adjustment module is used for automatic adjustment point The distance between Os and Oe is adapted to the length and size of the upper arm of different patients.

Preferably, the upper limb rehabilitation training mechanical arm includes one or two sets, and the number and left and right distribution of the upper limb rehabilitation training mechanical arm are configured according to the patient's rehabilitation training requirements;

The shoulder joint self-adaptive mobile module is supported on the base support module by an active lifting column arranged at the bottom which can be stretched up and down. Both ends are connected with a second rotating plate through the second passive rotary joint, and the first quick disassembly mechanism set on the swing out/inward support plate on the upper limb rehabilitation training mechanical arm is connected with the first quick release mechanism through the third passive rotary joint. Two rotating plates are connected; the upper limb rehabilitation training robot arm moves up and down in the vertical plane through the active lifting column, and the upper limb rehabilitation training robot arm moves in the horizontal plane through the first passive rotary joint, the second passive rotary joint, and the third passive rotary joint Horizontal movement within.

Preferably, the base support module includes a U-shaped bottom support plate and a universal wheel set fixed to its bottom, and the inner side of the U-shaped bottom support plate is designed for quick positioning with the multi-position seat module With fixed second quick release mechanism.

Preferably, the ulnar flexion/radial flexion movement mechanism is provided with an ulnar flexion/radial flexion limit ring for limiting the range of motion of the ulnar flexion/radial flexion movement mechanism; A limiting notch is used to limit the range of motion of the dorsiflexion/palm flexion movement mechanism;

The flexion/hyperextension movement mechanism is provided with a flexion limiter and a hyperextension limiter, which are used to limit the range of motion of the flexion/hyperextension movement mechanism; Pipe safety limit;

The outward swing/inward fixed support plate is provided with an outward swing limit block and an inward limit block, which are used to limit the range of motion of the outward swing/inward movement mechanism; The movement range of the external rotation/internal rotation movement mechanism is limited by two external rotation/internal rotation limit blocks.

Preferably, the shoulder joint motion module is provided with a second six-dimensional force sensor, and the first six-dimensional force sensor and the second six-dimensional force sensor are used to detect the relationship between the patient and the seven-degree-of-freedom upper limb rehabilitation training mechanical arm on the one hand. The human-machine contact force, on the other hand, is used to identify the patient's movement intention.

The beneficial effects of the present invention are:

(1) Customization of personalized rehabilitation training parameters. The invention can automatically adjust the size of the forearm and the upper arm, and can realize accurate and rapid initial position restoration for different patients, so as to facilitate rapid and accurate follow-up rehabilitation training.

(2) Multi-degree-of-freedom path planning. The present invention can assist patients to carry out the upper limb shoulder joint, elbow joint and wrist joint of the affected side, seven degrees of freedom, more comprehensive and personalized upper limb rehabilitation training; the present invention can provide personalized trajectory planning in the passive rehabilitation training mode The function can complete the patient's personalized path planning, and the upper limb rehabilitation training robot can realize the accurate restoration of the established rehabilitation trajectory.

(3) Shoulder joint coupling movement. The invention can ensure that the patient's glenohumeral joint rotation center coincides with the rotation center of the shoulder joint movement module of the upper limb rehabilitation training mechanical arm during the upper limb rehabilitation training process, eliminates the pulling feeling caused by the joint position deviation, and prevents the patient from being affected. secondary injury.

(4) Friendly human-computer interaction. The present invention is equipped with a pain point recording button at the handle, which is mainly used for physical therapists to record joint pain points at any time during path planning for patients in the early stage; on the one hand, it can be used for the emergency stop button in the training process in the later stage, and on the other hand, it can also be used for Pain point records are convenient for physical therapists to modify and improve the rehabilitation path in time.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the individualized upper limb rehabilitation training robot of the present invention;

2 is a schematic diagram of the overall structure of the seven-degree-of-freedom upper limb rehabilitation training mechanical arm of the present invention;

Fig. 3 is the structural representation of the wrist joint motion module in the seven-degree-of-freedom upper limb rehabilitation training mechanical arm of the present invention;

4 is a schematic diagram of the overall structure of the elbow joint movement module and the forearm size adjustment module in the seven-degree-of-freedom upper limb rehabilitation training mechanical arm of the present invention;

Fig. 5 is a schematic structural view of the shoulder joint movement module and the upper arm size adjustment module in the seven-degree-of-freedom upper limb rehabilitation training mechanical arm of the present invention;

Fig. 6 is a schematic structural view of the shoulder joint adaptive movement module and the base support module of the present invention;

Fig. 7 is a structural schematic diagram of the forearm size adjusting sliding plate of the present invention.

Explanation of reference signs:

Seven-degree-of-freedom upper limb rehabilitation training robot arm (1), shoulder joint adaptive movement module (2), multi-position seat module (3), base support module (4), wrist joint movement module (11), dorsiflexion/palm Flexion motion mechanism (11A), ulnar flexion/radial flexion motion mechanism (11B), elbow joint motion module (12), shoulder joint motion module (13), forearm size adjustment module (14), upper arm size adjustment module (15);

The first motor encoder (1101), the first motor (1102), the first reducer (1103), the first connection plate (1104), the ulnar flexion/radial flexion shaft (1105), the first bearing (1106), The first encoder (1107), ulnar flexion/radial flexion fixing plate (1108), ulnar flexion/radial flexion limit ring (1109), cover plate (1110), ulnar flexion/radial flexion power output plate (1111) first Six-dimensional force sensor (1112), pain point recording button (1113), first connection corner joint (1114), handle (1115), handle connection transition board (1116), dorsiflexion/palm flexion power output board (1118), ruler Flexion/radius flexion shaft (1119), lock nut (1120);

Second encoder (1121), dorsiflexion/palm flexion fixing plate (1122), second connection plate (1123), second reducer (1124), second motor (1125), second motor encoder (1126) ;

The third motor (1201), the third connection plate (1202), the transition shaft (1203), the buckling/hyperextension fixed support plate (1205), the buckling limit block (1206), the third reducer (1207), the buckling/ Hyperextension Connection Flange (1208), Buckling/Hyperextension Rotational Axis (1209), Buckling/Hyperextension Auxiliary Support Plate (1210), Second Connection Corner (1211), Buckling/Hyperextension PTO Plate (1212) , the third encoder (1213), the buckling/hyperextension auxiliary connecting plate (1214), the third connecting angle joint (1215) and the buckling/hyperextension auxiliary sleeve (1216);

The fourth motor (1217), the fourth reducer (1218), the first slider (1219), the first drive pinion (1220), the photoelectric pair tube (1221), the flexion/hyperextension auxiliary rotation shaft (1222), The first arc track (1223), the first torque sensor (1224), the overstretching limit block (1225), the second bearing end cover (1226), and the second bearing (1227);

Fifth motor (1301), outward swing/inward rotating shaft (1302), fifth connecting plate (1303), outward swing/inward support plate (1304), outward swing/inward fixed support plate (1305), outer Swing limit block (1306), connection of fifth reducer (1307), third bearing end cover (1308), third bearing (1309), outward swing/inward connecting flange (1310), second torque sensor (1311), outward swing/inward power output board (1312), the fourth encoder (1313), the fourth connecting corner joint (1314);

The sixth motor (1318), the second six-dimensional force sensor (1319), the sixth reducer (1320), the sixth connection plate (1321), the second slider (1322), the second drive pinion (1323), The second arc track (1324), external rotation/internal rotation limit block (1327), retraction limit block (1328), encoder reading head (1329), sixth connection angle joint (1330), first fast Disassembly mechanism (1331);

Forearm size adjustment fixed support seat (1401), first linear guide rail (1402), third slide block (1403), forearm size adjustment sliding plate (1404), first push rod (1405), limit notch (1406 );

Upper arm size adjustment fixed support plate (1501), second linear guide rail (1502), second push rod (1503), fourth slider (1504), upper arm size adjustment sliding plate (1505);

The first passive rotary joint (201), the second passive rotary joint (202), the third passive rotary joint (203), the active lifting column (204), the active lifting column (206), the locking knob (207), the locking Knob (208), locking knob (209), locking knob (210), locking knob (211), locking knob (212), first rotating plate (220), second rotating plate (221), U Type bottom support plate (401), universal wheel set (402), second quick release mechanism (403).

Detailed ways

The present invention will be further described in detail below in conjunction with the embodiments, so that those skilled in the art can implement it with reference to the description.

It should be understood that terms such as "having", "comprising" and "including" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

As shown in Figure 1, a kind of personalized upper limb rehabilitation training robot of the present embodiment comprises a base support module 4, a multi-position seat module 3 detachably arranged on the base support module, and a multi-position seat module 3 arranged on the base support module 4 on the shoulder joint adaptive mobile module 2 and one or two sets of seven-degree-of-freedom upper limb rehabilitation training mechanical arms 1 arranged on the shoulder joint adaptive mobile module 2;

As shown in Figure 2, the seven-degree-of-freedom upper limb rehabilitation training mechanical arm 1 adopts the structure of a typical serial robot, including a wrist joint movement module 11, an elbow joint movement module 12, a shoulder joint movement module 13, a forearm size adjustment module 14 and an upper arm movement module. Modules such as the size adjustment module 15, the wrist joint motion module 11 and the elbow joint motion module 12 are connected in series through the forearm size adjustment module 14, and the elbow joint motion module 12 and the shoulder joint motion module 13 are connected in series through the upper arm size adjustment module 15 The proximal end of the seven-degree-of-freedom upper limb rehabilitation training mechanical arm 1 is designed with a quick disassembly mechanism 1331, and the rehabilitation physiotherapist can configure the number and left-right distribution of the seven-degree-of-freedom upper limb rehabilitation training mechanical arm 1 according to the patient's rehabilitation training requirements.

As shown in FIG. 3 , the wrist joint motion module 11 includes a dorsiflexion/palm flexion motion mechanism 11A and an ulnar/radial flexion motion mechanism 11B. The two motion mechanisms are connected in series, and are fixedly connected through a first connecting angle joint 1114. Its axis of rotation is compared to point Ow; the power output shaft of the first motor 1102 of the ulnar flexion/radial flexion motion mechanism 11B cooperates with the power input shaft of the first speed reducer 1103 to form a driving component, and the driving component passes through the first connection plate 1104 is fixed on the ulnar flexion/radial flexion fixing plate 1108, and the two ends of the ulnar flexion/radial flexion rotating shaft 1105 are respectively connected to the power output shaft of the first speed reducer 1103 and the ulnar flexion/radial flexion power output plate 1111; The power output shaft of the second motor 1125 of the palm flexion movement mechanism 11A cooperates with the power input shaft of the speed reducer 1124 to form a driving part, and the driving part is fixed on the dorsiflexion/palm flexion fixing plate 1122 through the second connection plate 1123. The two ends of the flexion/radial flexion shaft 1119 are respectively connected to the power output shaft of the second reducer 1124 and the dorsiflexion/palm flexion power output plate 1118; one end of the first six-dimensional force sensor 1112 is connected to the ulnar/radial flexion power output The plate 1111 is connected, and the other end is connected with the handle connection transition plate 1116, and the handle 1115 is fixed on the handle connection transition plate 1116 through a lock nut 1120; the first motor encoder 1101 and the second motor encoder 1101 fixed on the ulnar flexion/radial flexion shaft 1105 An encoder 1107 forms a closed loop to detect the joint angle of the ulnar/radial flexion mechanism 11B; the second motor encoder 1126 and the encoder 1121 fixed on the dorsiflexion/palm flexion axis 1119 form a closed loop to detect dorsiflexion /The joint angle of the palm-flexion kinematic mechanism 11A.

As shown in Figure 4, the elbow joint motion module 12 includes a flexion/hyperextension motion mechanism 12A and a forearm pronation/supination motion mechanism 12B. The connection angle joint 1215 is fixedly connected, and its rotation axis is compared with point Oe; the third motor 1201 is fixedly supported on the buckling/hyperextension fixed support plate 1205 through the third connection plate 1202, and the power output shaft of the third motor 1201 and the transition shaft 1203 is fixedly connected; one end of the flexion/hyperextension rotating shaft 1209 is connected with the transition shaft 1203, and the other end is connected with the third speed reducer 1207 fixed on the buckling/hyperextension fixed support plate 1205; the power of the third speed reducer 1207 passes through the buckling/hyperextension The hyperextension connecting flange 1208 and the first torque sensor 1224 are transmitted to the buckling/hyperextension power output board 1212, and the buckling/hyperextension power output board 1212 is rotatably supported at the buckling/hyperextension power output board 1212 through the second bearing 1227 and the second bearing end cover 1226. On the hyperextension connection flange 1208; the third encoder 1213 is fixed on the flexion/hyperextension auxiliary support plate 1210 through the flexion/hyperextension auxiliary sleeve 1216, and one end of the flexion/hyperextension auxiliary connecting plate 1214 is connected to the third connection angle connected to 1215, and the other end is connected to the flexion/hyperextension auxiliary rotation shaft 1222; the fourth motor 1217 and the fourth reducer 1218 are fixedly supported on the first slider 1219, and the first slider 1219 is supported on the first arc through bearings. On the track 1223, the power of the fourth motor 1217 is transmitted to the first arc track 1223 through the first driving pinion 1220, driving the first slider 1219, the fourth motor 1217, the fourth reducer 1218, and the forearm size adjustment module 14 rotates around the pronation/supination axis; the built-in encoder of the third motor 1201 and the third encoder 1213 form a closed loop to detect the joint angle of the flexion/hyperextension motion mechanism 12A; the built-in encoder of the fourth motor 1217 is used to It is used to detect the joint angle of the forearm pronation/supination movement mechanism 12B.

As shown in Figure 5, the shoulder joint movement module 13 includes a shoulder joint swing/adduction movement mechanism 13A, a forward flexion/extension movement mechanism 13B and an external rotation/internal rotation movement mechanism 13C, and the three movement mechanisms are connected through a joint 1314 It is connected in series with the connection block 1325, and its axis of rotation is compared to the point Os; the internal structure of the outward swing/inward movement mechanism 13A is the same as that of the forward bending/backward extension movement mechanism 13B. The motor 1301 is fixed on the swing-out/inward fixed support plate 1305 through the fifth connection plate 1303 and the swing-out/inward support plate 1304, one end of the swing-out/inward rotation shaft 1302 is connected with the power output shaft of the fifth motor 1301, and the other One end is connected to the fifth speed reducer 1307 fixed on the swing-out/inward fixed support plate 1305; the power of the fifth speed reducer 1307 is transmitted to the swing-out/inward connection flange 1310 and the second torque sensor 1311 to the swing-out/inward On the retraction power output plate 1312, the outward swing/inward power output board 1312 is rotatably supported on the outward swing/inward connection flange 1310 through the third bearing 1309 and the third bearing end cover 1308; the fourth encoder 1313 is fixed on the outer On the swing/inward power output board 1312, the encoder reading head 1329 is positioned and supported on the outward swing/inward support plate 1304 through the sixth connection angle joint 1330; the sixth motor 1318 and the sixth reducer 1320 pass through the sixth connection plate 1321 Fixedly supported on the second slider 1322, the second slider 1322 is supported on the second arc track 1324 through bearings, the power of the sixth motor 1318 is transmitted to the second arc track 1324 through the second drive pinion 1323, Drive the second slider 1322, the sixth motor 1318, the sixth reducer 1320, and the forearm size adjustment module 14 and the wrist joint movement module 11 to rotate around the shoulder joint external rotation/internal rotation axis; the built-in encoder of the fifth motor 1301 It forms a closed loop with the fourth encoder 1313 to detect the joint angle of the outward swing/inward movement mechanism 13A; the built-in encoder of the sixth motor 1318 is used to detect the joint angle of the external rotation/internal rotation movement mechanism 13C.

As shown in Figure 4, the forearm size adjustment module 14 includes a forearm size adjustment fixed support base 1401, a first linear guide rail 1402, a third slide block 1403, a forearm size adjustment sliding plate 1404 and a first push rod 1405, etc. The linear guide rail 1402 is fixedly installed on the forearm size adjustment fixed support base 1401, the third slider 1403 can move along the first linear guide rail 1402, the forearm size adjustment sliding plate 1404 is fixedly connected with the upper end surface of the third slider 1403, the entire forearm size The adjustment module 14 is fixedly connected with the forearm pronation/supination movement mechanism 12B through the forearm size adjustment fixed support base 1401; the forearm size adjustment module 14 can automatically adjust the distance between the points Ow and Oe to adapt to the length of the forearm of different patients. And the patient's forearm size data can be stored to realize accurate and rapid restoration of the initial position of the patient before the next rehabilitation training.

As shown in Figure 5, the upper arm size adjustment module 15 includes an upper arm size adjustment fixed support plate 1501, a second linear guide rail 1502, a fourth slider 1504, an upper arm size adjustment sliding plate 1505, a second push rod 1503, etc., the second linear guide rail 1502 is fixedly installed on the upper arm size adjustment fixed support plate 1501, the fourth slider 1504 can move along the second linear guide rail 1502, the forearm size adjustment sliding plate 1505 is fixedly connected with the upper end surface of the fourth slider 1504, and the entire upper arm size adjustment module 15 The upper arm size adjustment fixed support plate 1501 is fixedly connected with the external rotation/internal rotation movement mechanism 13C; the upper arm size adjustment module 15 can automatically adjust the distance between the points Os and Oe to adapt to the length size of the upper arm of different patients, and the The patient's upper arm size data is stored to achieve accurate and rapid restoration of the initial position of the patient before the next rehabilitation training.

The shoulder joint self-adaptive mobile module 2 is supported on the base support module 2 by an active lifting column 206 arranged at the bottom that can be stretched up and down. The two ends of the rotating plate 220 are all connected to a second rotating plate 221 through the second passive rotary joint 202, and the first quick disassembly mechanism (1331) provided on the outward swing/inward support plate on the upper limb rehabilitation training mechanical arm is then The third passive rotary joint 203 is connected with the second rotating plate 221; the upper limb rehabilitation training mechanical arm (1) moves up and down in the vertical plane through the active lifting column (206); through the first passive rotary joint 201, The second passive rotary joint 202 and the third passive rotary joint 203 realize the horizontal movement of the upper limb rehabilitation training mechanical arm in the horizontal plane.

As shown in Figure 6, in one embodiment, the shoulder joint adaptive movement module 2 is provided with two sets of passive arm structures in the horizontal direction to realize the horizontal movement of the upper limb rehabilitation training mechanical arm 1 in the horizontal plane, including the first passive arm structure. Revolving joint 201, the second passive revolving joint (202, 204), the third passive revolving joint (203, 205), wherein the passive revolving joint 201 includes two revolving pairs, and belongs to the composite passive revolving joint; the vertical direction is provided with active lifting The upright column 206 realizes the up and down movement of the upper limb rehabilitation training mechanical arm 1 in the vertical plane; the five passive rotary joints 201, 202, 203, 204, 205 are respectively provided with locking knobs 207, 208, 209, 210, 211, 212. During rehabilitation training, one or several locking knobs can be locked to realize rehabilitation training on a certain side of the limb; Rehabilitation training; locking the locking knobs 207, 208, 209, 210, 211 and 212 can realize the rehabilitation training of the wrist joints and elbow joints of the patient's left and right upper limbs.

As shown in Figure 6, the base support module 4 includes a U-shaped bottom support plate 401 and a universal wheel set 402, and the U-shaped bottom support plate 401 is fixedly connected with the universal wheel set 402; the inner side of the U-shaped bottom support plate 401 is designed There is a second quick detachment mechanism 403 capable of quickly positioning and fixing the multi-position seat module 3 .

The second quick disassembly mechanism 403 is the installation convex strips arranged on both sides of the floor at the bottom of the multi-position seat module 3, and the inner sides of the U-shaped bottom support plate 401 are used for the insertion of the installation convex strips. Two mounting slots.

As shown in Figures 3, 4, 5 and 7, an ulnar flexion/radial flexion limiting ring 1109 is installed on the ulnar flexion/radial flexion kinematic mechanism 11B, which is used to limit the range of motion of the ulnar flexion/radial flexion kinematic mechanism 11B; forearm size The adjustment sliding plate 1404 is provided with a limit notch 1406, which is used to limit the range of motion of the dorsiflexion/palm flexion movement mechanism 11A; a flexion limit block 1206 and a hyperextension limit block 1225 are installed on the flexion/hyperextension movement mechanism 12A, It is used to limit the range of motion of the flexion/hyperextension motion mechanism 12A; the forearm pronation/supination motion mechanism 12B conducts safety limit on the tube 1221 through photoelectricity; the shoulder joint swing/adduction motion mechanism 13A and forward flexion/extension The limit shapes of the mechanism 13B are similar. The outward swing/inward motion mechanism 13A is an example. The outward swing limit block 1306 and the inward limit block 1328 are installed on the outward swing/inward fixed support plate 1305 to limit the outward swing. /Adduction motion mechanism 13A's range of motion; external rotation/internal rotation motion mechanism 13C limits the motion range of external rotation/internal rotation motion mechanism 13C through two external/internal rotation limit blocks 1327 .

As shown in Figures 3 and 5, the wrist joint motion module 11 is provided with a first six-dimensional force sensor 1112, and the shoulder joint motion module 13 is equipped with a second six-dimensional force sensor 1319, which is used to detect the relationship between the patient and the seven degrees of freedom on the one hand. The human-machine contact force between the upper limb rehabilitation training robot arm 1 is used to identify the patient's movement intention on the other hand.

As shown in Figure 3, the upper end of the handle 1115 of the wrist joint movement module 11 is provided with a pain point recording button 1113, which is mainly used in the early stage for the physical therapist to record the pain points of the joints at any time during path planning for the patient; The emergency stop button, on the other hand, can also be used to record pain points, so that physical therapists can modify and improve the rehabilitation path in time.

Working process of the present invention is:

(1) Rehabilitation training for the first time: first, the rehabilitation physiotherapist uses the system login part to establish a personal rehabilitation database for the patient; then, the patient sits on the multi-position seat module 3, adjusts the sitting posture, and stores the patient's posture data in the In the system control and storage part; then the patient wears the upper limb rehabilitation training mechanical arm 1, and the rehabilitation physiotherapist makes the patient's wrist joint, elbow joint and shoulder joint rotation axis and upper limb rehabilitation by adjusting the forearm size adjustment module 14 and the upper arm size adjustment module 15 respectively The rotation axes of the wrist joint, elbow joint and shoulder joint motion modules of training robot 1 coincide, and are also stored in the patient’s personal rehabilitation database by using the system control and storage part; then, the motion mode is adjusted to active training mode, and the rehabilitation The physiotherapist takes the patient's affected limb to exercise a single joint. When the patient feels pain, he presses the pain record button 1113. The system control and storage part records the angle value of the current joint, and the rehabilitation physiotherapist conducts the patient's passive rehabilitation training path. Planning; finally, adjust the exercise mode to passive training mode, and the upper limb rehabilitation training robot will drive the patient's affected limb to perform rehabilitation training according to the path set by the physical therapist. At the end, the system control and storage part will carry out the rehabilitation training. Effect evaluation, and storage of rehabilitation results and other data.

(2) Rehabilitation training not for the first time: the patient uses the system login part to log in to the system, and the rehabilitation training robot automatically restores to the state of the patient's last rehabilitation, mainly including the state of the upper limb rehabilitation training robot arm 1 and the multi-position seat module 3 state; the patient wears the upper limb rehabilitation training robot arm 1 and continues the rehabilitation training. At the end, the system control and storage part evaluates the effect of this rehabilitation training, and also stores data such as rehabilitation results.

The invention is suitable for patients with upper limb dysfunction or functional limitation caused by central nervous system, peripheral nerve, spinal cord, muscular or skeletal diseases, and can allow patients with different rehabilitation stages, different symptoms and different body types to perform upper limb rehabilitation training.

Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details without departing from the general concept defined by the claims and their equivalents.

Claims (10)

1. A personalized upper limb rehabilitation training robot is characterized in that it comprises a base support module, a multi-position seat module detachably arranged on the base support module, a shoulder joint self-adaptive seat module arranged on the base support module A mobile module and a seven-degree-of-freedom upper limb rehabilitation training mechanical arm arranged on the shoulder joint self-adaptive mobile module; The seven-degree-of-freedom upper limb rehabilitation training mechanical arm includes a wrist joint motion module, an elbow joint motion module connected in series with the wrist joint motion module through a forearm size adjustment module, and a connection between the upper arm size adjustment module and the elbow joint motion module. The other end is a shoulder joint motion module connected in series. 2. the individualized upper limb rehabilitation training robot according to claim 1, is characterized in that, described wrist joint motion module comprises dorsiflexion/palm flexion motion mechanism and ulnar flexion/radial flexion motion mechanism connected in series, the two motion mechanisms the axis of rotation relative to the point Ow; The ulnar flexion/radial flexion movement mechanism includes an ulnar flexion/radial flexion fixing plate, a first connection plate arranged on the ulnar flexion/radial flexion fixing plate, and a first speed reducer arranged on the first connecting plate , the first motor power-connected with the first reducer, the ulnar flexion/radial flexion shaft connected with the power output shaft of the first reducer, and the ulnar flexion/radial flexion shaft connected with the ulnar flexion/radial flexion shaft /radial flexion power output board, the first six-dimensional force sensor connected to the ulnar flexion/radial flexion power output board, the connection transition plate connected to the other end of the first six-dimensional force sensor and the connection transition The handle on the board; the first motor encoder arranged on the first motor and the first encoder fixed on the ulnar flexion/radial flexion shaft form a closed-loop loop to detect the movement of the ulnar flexion/radial flexion movement mechanism joint angle; The dorsiflexion/palm flexion movement mechanism includes a dorsiflexion/palm flexion fixing plate, a second connection plate arranged on the dorsiflexion/palm flexion fixing plate, and a second speed reducer arranged on the second connection plate , a second motor power-connected to the second reducer, a dorsiflexion/palm flexion axis connected to the power output shaft of the second reducer, and a dorsiflexion axis connected to the dorsiflexion/palmflexion axis /palm flexion power output board; the second motor encoder arranged on the second motor and the second encoder fixed on the dorsiflexion/palm flexion rotation shaft form a closed-loop loop to detect the dorsiflexion/palm flexion Joint angles of flexion kinematics. 3. the individualized upper limb rehabilitation training robot according to claim 2, is characterized in that, described elbow motion module comprises flexion/hyperextension kinematic mechanism and forearm pronation/supination kinematic mechanism connected in series, the two kinematic mechanisms the axis of rotation relative to the point Oe; The flexion/hyperextension movement mechanism includes a flexion/hyperextension fixed support plate, a third connection plate arranged on the flexion/hyperextension fixed support plate, a third motor arranged on the third connection plate, and The transition shaft connected to the power output shaft of the third motor, the third speed reducer connected to the other end of the transition shaft, the buckling/overextension connection flange connected to the output end of the third speed reduction, and the The buckling/hyperextension PTO plate connected with the buckling/hyperextension connection flange and the first torque sensor arranged between the buckling/hyperextension connection flange and the buckling/hyperextension power output plate; The buckling/hyperextension power output plate is rotatably supported on the buckling/hyperextension connecting flange through bearings and bearing end covers. 4. The personalized upper limb rehabilitation training robot according to claim 3, characterized in that, the forearm pronation/supination motion mechanism comprises a first arc track, which is supported by a first bearing and is arranged on the first arc. The first slider on the track, the fourth connecting plate arranged on the first sliding block, the fourth reducer arranged on the fourth connecting plate, the fourth reducer arranged at the other end of the fourth reducer Four motors and the first driving pinion drivingly connected to the output end of the fourth reducer, the fourth motor drives the first slider, the fourth reducer, and the forearm size adjustment module to rotate forward/backward around the forearm axis rotation; the built-in encoder of the fourth motor is used to detect the joint angle of the forearm pronation/supination movement mechanism; The flexion/hyperextension movement mechanism also includes a flexion/hyperextension auxiliary connecting plate fixed on the first arc-shaped track through a connection angle joint, and a flexion/hyperextension auxiliary connecting plate arranged at the other end of the flexion/hyperextension auxiliary connecting plate. Extension auxiliary rotation shaft and the third encoder fixed on the flexion/hyperextension auxiliary support plate through the flexion/hyperextension auxiliary sleeve, the built-in encoder of the third motor and the third encoder form a closed loop, and the detected Describe the joint angles of the flexion/hyperextension kinematic mechanism. 5. the individualized upper limb rehabilitation training robot according to claim 4, is characterized in that, described shoulder joint motion module comprises the shoulder joint that is connected in series successively outside swing/adduction motion mechanism, flexion/extension motion mechanism and external Rotation/internal rotation kinematics, the rotation axes of the three kinematics are compared to the point Os; The swing-out/inward movement mechanism includes a swing-out/inward support plate, a swing-out/inward fixed support plate set on the swing-out/inward support plate, a fixed support plate set on the swing-out/inward support The fifth connection plate on the board, the fifth motor arranged on the fifth connection plate, the outward swing/inward rotation shaft connected to the power output shaft of the fifth motor, and the outward swing/inward The fifth reducer connected to the other end of the rotating shaft, the outward swing/inward swing output flange connected to the output end of the fifth reducer, the outward swing/inward swing connected to the outward swing/inward output flange The retracting power output board, the second torque sensor arranged between the fifth reducer and the outward swing/inward power output board, and the fourth encoder fixed on the outward swing/inward power output board; The built-in encoder of the fifth motor and the fourth encoder form a closed loop, which is used to detect the joint angle of the swing-out/adduction motion mechanism; The external rotation/internal rotation movement mechanism includes a second arc track, a second slider set on the second arc track through a bearing, a sixth connecting plate set on the second slide block, a set The sixth speed reducer on the sixth connection plate, the sixth motor arranged at the other end of the sixth speed reducer, and the second drive pinion drivingly connected to the output end of the sixth speed reducer, the The sixth motor drives the second slider, the sixth reducer, the forearm size adjustment module and the wrist joint movement module to rotate around the shoulder joint external rotation/internal rotation axis; the built-in encoder of the sixth motor is used to detect external rotation / Joint angle of the pronation kinematics. 6. The personalized upper limb rehabilitation training robot according to claim 5, characterized in that, the forearm size adjustment module includes a forearm size adjustment fixed support seat connected with the first slider, fixed on the forearm size adjustment The first linear guide rail on the upper surface of the fixed support seat, the third slide block slidably arranged on the first linear guide rail, the first push rod connected with the third slide block and fixed on the third slide block The forearm size adjustment slide plate on the upper surface of the slide block, the forearm size adjustment module is used to automatically adjust the distance between the points Ow and Oe, to adapt to the length size of the forearm of different patients; The upper arm size adjustment module includes an upper arm size adjustment fixed support plate connected to the second arc track, a second linear guide fixed to the side of the arm size adjustment fixed support plate, and a second linear guide rail that is slidably arranged on the second straight line. The fourth slider on the guide rail, the second push rod connected with the fourth slider and the forearm size adjustment sliding plate fixed on the side of the fourth slider, the upper arm size adjustment module is used for automatic adjustment point The distance between Os and Oe is adapted to the length and size of the upper arm of different patients. 7. The personalized upper limb rehabilitation training robot according to claim 1, characterized in that, the upper limb rehabilitation training mechanical arm comprises one or two sets, and the quantity and left and right sides of the upper limb rehabilitation training mechanical arm are required according to the patient's rehabilitation training. distribution configuration; The shoulder joint self-adaptive mobile module is supported on the base support module by an active lifting column arranged at the bottom which can be stretched up and down. Both ends are connected with a second rotating plate through the second passive rotary joint, and the first quick disassembly mechanism set on the swing out/inward support plate on the upper limb rehabilitation training mechanical arm is connected with the first quick release mechanism through the third passive rotary joint. Two rotating plates are connected; the upper limb rehabilitation training robot arm moves up and down in the vertical plane through the active lifting column, and the upper limb rehabilitation training robot arm moves in the horizontal plane through the first passive rotary joint, the second passive rotary joint, and the third passive rotary joint Horizontal movement within. 8. The personalized upper limb rehabilitation training robot according to claim 1, characterized in that, the base support module comprises a U-shaped bottom support plate and a universal wheel set affixed to its bottom, and the U-shaped bottom supports The inner side of the board is designed with a second quick disassembly mechanism for quick positioning and fixing with the multi-position seat module. 9. The personalized upper limb rehabilitation training robot according to claim 6, characterized in that, the ulnar flexion/radial flexion movement mechanism is provided with a ulnar flexion/radial flexion limiting ring for limiting the ulnar flexion/radial flexion The range of motion of the flexion mechanism; the forearm size adjustment sliding plate is provided with a limit notch for limiting the range of motion of the dorsiflexion/palm flexion mechanism; The flexion/hyperextension movement mechanism is provided with a flexion limiter and a hyperextension limiter, which are used to limit the range of motion of the flexion/hyperextension movement mechanism; Tube for safety limit; The outward swing/inward fixed support plate is provided with an outward swing limit block and an inward limit block, which are used to limit the range of motion of the outward swing/inward movement mechanism; The movement range of the external rotation/internal rotation movement mechanism is limited by two external rotation/internal rotation limit blocks. 10. The personalized upper limb rehabilitation training robot according to claim 6, characterized in that, the shoulder joint motion module is provided with a second six-dimensional force sensor, the first six-dimensional force sensor and the second six-dimensional force sensor On the one hand, the sensor is used to detect the human-machine contact force between the patient and the seven-degree-of-freedom upper limb rehabilitation training robot arm, and on the other hand, it is used to identify the patient's movement intention.