CN212547595U

CN212547595U - Novel upper limb rehabilitation robot

Info

Publication number: CN212547595U
Application number: CN201922236484.0U
Authority: CN
Inventors: 杨炽夫; 王玉君; 岳建民
Original assignee: Harbin Engineering Qingdao Robot Co ltd
Current assignee: Harbin Engineering Qingdao Robot Co ltd
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2021-02-19
Anticipated expiration: 2029-12-13

Abstract

The utility model relates to a novel upper limb rehabilitation robot, which comprises an outer skeleton bracket and an upper limb exoskeleton arranged on the outer skeleton bracket; the upper limb exoskeleton comprises a shoulder joint module, an elbow joint module and a wrist joint module which are sequentially connected; the exoskeleton support comprises a base, an upright post arranged on the base, a height adjusting mechanism arranged on the upright post and a cross beam connected with the height adjusting mechanism; the base is provided with rollers, and the shoulder joint module is connected with the cross beam through the cross beam sliding block. The beneficial effects of the utility model are that can adapt to different height patients and can accomplish patient's standing posture and position of sitting training according to the rehabilitation training requirement, upper arm, forearm, the position appearance of rehabilitation robot are adjustable simultaneously, can realize that left and right hand dresses, have satisfied the demand of left and right side disease.

Description

Novel upper limb rehabilitation robot

Technical Field

The utility model belongs to the technical field of recovered mechanical equipment, especially, relate to a novel upper limbs rehabilitation robot.

Background

The upper limb exoskeleton rehabilitation robot is a mechanical system suitable for long-time and complicated and repetitive labor work, and is rapidly developed and widely applied to the field of motion rehabilitation of patients after stroke. If the upper limb rehabilitation robot can assist in executing rehabilitation evaluation and treatment programs, the treatment effect is well improved. The upper limb rehabilitation robot can drive limbs to move repeatedly by thousands of times through the robot, and is more suitable for accurate and flexible rehabilitation training of patients. The device can accurately adjust the motion parameters and force parameters applied to the patients in real time, the treatment is more flexible and accurate, and the efficiency of rehabilitation training can be improved; the upper limb rehabilitation robot stimulates and reconstructs the nervous system for controlling limb movement, thereby becoming a new clinical treatment means for recovering limb functional movement. In addition, the robot can record detailed treatment data and graphs, can provide objective and accurate treatment and evaluation parameters, is favorable for the deep development of robot-assisted treatment research, and has the potential of improving the rehabilitation effect and improving the rehabilitation efficiency.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a novel upper limbs rehabilitation robot, the purpose provides one kind effectively feasible and realizes the initiative and the passive drive control of human upper limbs motion through ectoskeleton robot technology, helps upper limbs dyskinesia patient and ageing crowd carry out rehabilitation training and adjunctie therapy.

The technical scheme of the utility model is that: a novel upper limb rehabilitation robot comprises an outer skeleton bracket and an upper limb exoskeleton arranged on the outer skeleton bracket; the upper limb exoskeleton comprises a shoulder joint module, an elbow joint module and a wrist joint module which are sequentially connected; the exoskeleton support comprises a base, an upright post arranged on the base, a height adjusting mechanism arranged on the upright post and a cross beam connected with the height adjusting mechanism; the base is provided with rollers, and the shoulder joint module is connected with the cross beam through the cross beam sliding block.

Compared with the prior art, the scheme can realize large-range single joint movement and multi-joint compound movement from the major joint to the minor joint from the clinical training requirement, and can realize the daily life movement training of the patient; the robot is arranged on a height-adjustable support, can adapt to patients with different heights and can complete the standing posture and sitting posture training of the patients according to the requirements of rehabilitation training.

Based on the above scheme, the utility model discloses following improvement has still been made:

furthermore, the shoulder joint module comprises a shoulder motor support and a shoulder motor which are fixed on the beam sliding block, a shoulder swing beam connected with the shoulder motor, a large arm motor support and a large arm motor which are connected with the shoulder swing beam, a guide polished rod connected with the large arm motor, a large arm position adjusting block arranged on the guide polished rod, and a large arm circular track fixed with the large arm position adjusting block.

Furthermore, the elbow joint module comprises a small arm sliding block arranged on the large arm circular track, a small arm motor support and a small arm motor arranged on the small arm sliding block, and a small arm circular track with one end connected with the small arm motor through a connecting rod and the other end connected with the large arm circular track through a connecting rod.

Furthermore, the wrist joint module comprises a wrist motor support and a wrist motor which are fixed with the elbow joint module, an electric push rod fixing seat which is fixed with the wrist motor support, an electric push rod which is connected with the wrist motor, a hand supporting block which is connected with the movable end of the electric push rod through a wrist connecting rod, a small arm fixing band which is arranged on the electric push rod fixing seat, and a hand traction rod which is arranged on the hand supporting block.

Furthermore, a threaded rod and a threaded rod knob are arranged on the guide polished rod, the large arm position adjusting block is in threaded fit with the threaded rod, and the relative position of the threaded rod and the large arm position adjusting block is adjusted through rotation of the threaded rod knob.

The technical scheme has the advantages that the large-range single joint movement and multi-joint compound movement from the major joint to the minor joint can be realized from the clinical training requirement, and the daily life movement training of a patient can be realized; the wearable exoskeleton structure is adopted, so that the affected limb of the patient can be effectively supported, and the patient is always kept in a normal joint separation and coordination movement mode; the upper arm, the forearm and the pose of the rehabilitation robot are adjustable, the left hand and the right hand can be worn, and the requirements of left and right patients are met.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of the wrist joint of the present invention.

In the figure, 11, the upright; 12. a height adjustment mechanism; 13. a cross beam; 21. a beam slider; 22. a shoulder motor support; 23. a shoulder motor; 24. the shoulder swings the crossbeam; 25. a fan-shaped fixing plate; 26. a beam plate of a square-square shape; 27. adjusting a rod; 28. adjusting rotation; 31. a large arm motor; 32. a large arm swing rotary disc 33 and a guide polished rod; 34. a threaded rod; 35. a large arm position adjusting block; 36. a threaded rod knob; 37. a large arm circular track; 41. a small arm slider; 42. a small arm motor support; 43. a small arm motor; 44. A connecting rod; 45. a small arm circular track; 51. a wrist motor support; 52. an electric push rod fixing seat; 53. an electric push rod; 54. A hand support block; 55. a forearm fixing strap; 56. a hand drawbar; 57. a first connecting rod; 58. a fork-type connecting rod; 59. Hand height adjustment knob.

Detailed Description

As shown in fig. 1, a novel upper limb rehabilitation robot comprises an outer skeleton bracket and an upper limb exoskeleton arranged on the outer skeleton bracket; the exoskeleton support comprises a base, an upright post 11 arranged on the base, a height adjusting mechanism 12 arranged on the upright post 11, and a cross beam 13 connected with the height adjusting mechanism 12; the base is provided with rollers (the rollers are not marked in the roller graph); the height adjusting mechanism is a telescopic guide pillar. The upper limb exoskeleton comprises a shoulder joint module, an elbow joint module and a wrist joint module which are sequentially connected.

The shoulder joint module comprises a beam sliding block 21 connected with the beam in a sliding manner, a shoulder motor support 22 and a shoulder motor 23 fixed on the beam sliding block 21, a shoulder swinging beam 24 connected with the shoulder motor 23, a large arm motor support and a large arm motor 32 connected with the shoulder swinging beam 24, a guide polished rod 33 connected with the large arm motor through a large arm swinging rotary disc 32, a large arm position adjusting block 35 arranged on the guide polished rod 33, and a large arm circular track 37 fixed with the large arm position adjusting block 35. The guide polished rod 33 is provided with a threaded rod 34 and a threaded rod knob 36, the large arm position adjusting block 35 is in threaded fit with the threaded rod 34, and the relative position of the threaded rod 34 and the large arm position adjusting block 35 is adjusted through rotation of the threaded rod 34 knob. The guided rods are 2 parallel rods with the threaded rod 34 in between the two (the threaded rod is only partially shown in fig. 1 due to the angle). A large arm posture fine-tuning mechanism is also arranged between the shoulder swing beam and the large arm motor support; the large arm posture fine adjustment mechanism comprises two fan-shaped fixing plates 25, two bent beam plates 26, an adjusting rod 27 and an adjusting rod knob 28, wherein arc-shaped grooves are formed in the fan-shaped fixing plates 25; a fan-shaped fixing plate 25 is fixed on the shoulder swing cross beam 24, one end of a bent beam plate 26 is hinged on the fan-shaped fixing plate 25, and the other end of the bent beam plate is connected with a large arm motor support; the adjusting rod 27 penetrates through the square beam plate 26 through the arc-shaped groove; the adjustment of the adjusting rod knob 28 changes the position of the adjusting rod 27 in the arc-shaped groove of the fan-shaped fixing plate, so that the relative position of the clip-shaped beam plate 26 is adjusted, and the fine adjustment of the posture of the large arm is further realized.

The elbow joint module comprises a small arm sliding block 41 arranged on the large arm circular track, a small arm motor bracket 42 and a small arm motor 43 which are arranged on the small arm sliding block, and a small arm circular track 45, wherein one end of the small arm circular track is connected with the small arm motor 43 through a connecting rod, and the other end of the small arm circular track is connected with the large arm circular track through a connecting rod.

As shown in fig. 1 and 2, the wrist joint module includes a wrist motor support 51 and a wrist motor fixed to the elbow joint module, an electric putter holder 52 fixed to the wrist motor support, an electric putter 53 connected to the wrist motor, a hand support block 54 connected to the movable end of the electric putter 53 through a wrist connecting rod, a forearm fixing strap 55 disposed on the electric putter holder, and a hand traction bar 56 disposed on the hand support block 54. The wrist connecting rod comprises a first connecting rod 57 connected with the movable end of the electric push rod and a fork-shaped connecting rod 58 connected with the hand supporting block; the first connecting rod 57 is connected with the middle part of the fork-shaped connecting rod 58, and the end part of the fork-shaped connecting rod 58 is hinged on the electric push rod fixing seat 52 through a rod; a hand height adjusting rod with threads and a hand height adjusting knob 59 are arranged at the bottom of the hand supporting block 54, and a fixing block in threaded fit with the hand height adjusting rod is fixed on the fork-shaped connecting rod 58; the height adjustment of the hand support block 54 is realized by adjusting the relative position of the hand height adjustment rod and the fixed block.

Claims

1. The utility model provides a novel recovered robot of upper limbs which characterized in that: comprises an exoskeleton support and an upper limb exoskeleton arranged on the exoskeleton support; the upper limb exoskeleton comprises a shoulder joint module, an elbow joint module and a wrist joint module which are sequentially connected; the exoskeleton support comprises a base, an upright post arranged on the base, a height adjusting mechanism arranged on the upright post and a cross beam connected with the height adjusting mechanism; the base is provided with rollers, and the shoulder joint module is connected with the cross beam through the cross beam sliding block.

2. The novel upper limb rehabilitation robot according to claim 1, characterized in that: the shoulder joint module comprises a shoulder motor support and a shoulder motor which are fixed on a beam sliding block, a shoulder swing beam connected with the shoulder motor, a large arm motor support and a large arm motor connected with the shoulder swing beam, a guide polished rod connected with the large arm motor through a large arm swing rotary disc, a large arm position adjusting block arranged on the guide polished rod, and a large arm circular track fixed with the large arm position adjusting block.

3. The novel upper limb rehabilitation robot according to claim 2, characterized in that: the elbow joint module comprises a small arm sliding block arranged on the large arm circular track, a small arm motor support and a small arm motor arranged on the small arm sliding block, and a small arm circular track, wherein one end of the small arm circular track is connected with the small arm motor through a connecting rod, and the other end of the small arm circular track is connected with the large arm circular track through a connecting rod.

4. The novel upper limb rehabilitation robot according to claim 1, characterized in that: the wrist joint module comprises a wrist motor support and a wrist motor which are fixed with the elbow joint module, an electric push rod fixing seat which is fixed with the wrist motor support, an electric push rod which is connected with the wrist motor, a hand supporting block which is connected with the movable end of the electric push rod through a wrist connecting rod, a forearm fixing band which is arranged on the electric push rod fixing seat, and a hand traction rod which is arranged on the hand supporting block.

5. The novel upper limb rehabilitation robot according to claim 2, characterized in that: the guide polished rod is provided with a threaded rod and a threaded rod knob, the large arm position adjusting block is in threaded fit with the threaded rod, and the relative position of the threaded rod and the large arm position adjusting block is adjusted through rotation of the threaded rod knob.