CN114533496A - Shoulder rehabilitation exoskeleton robot - Google Patents
Shoulder rehabilitation exoskeleton robot Download PDFInfo
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- CN114533496A CN114533496A CN202210223488.9A CN202210223488A CN114533496A CN 114533496 A CN114533496 A CN 114533496A CN 202210223488 A CN202210223488 A CN 202210223488A CN 114533496 A CN114533496 A CN 114533496A
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 210000001991 scapula Anatomy 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 84
- 230000008878 coupling Effects 0.000 claims description 29
- 238000010168 coupling process Methods 0.000 claims description 29
- 238000005859 coupling reaction Methods 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 239000011148 porous material Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 38
- 230000036544 posture Effects 0.000 abstract 1
- 230000000630 rising effect Effects 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 description 11
- 238000000034 method Methods 0.000 description 6
- 239000012636 effector Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 210000003857 wrist joint Anatomy 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003109 clavicle Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1245—Primarily by articulating the shoulder joint
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention provides a shoulder rehabilitation exoskeleton robot which is suitable for driving shoulders of a patient to realize five-degree-of-freedom motion. The shoulder rehabilitation exoskeleton robot comprises: the scapula belt mechanism, the spherical hinge mechanism and the base lifting platform; the scapula mechanism comprises a first joint and a second joint which respectively control the rising, falling, extending and retracting movement of the shoulder. The spherical hinge mechanism comprises a third joint, a fourth joint and a fifth joint and respectively controls the adduction-abduction, the internal rotation-outward rotation and the flexion-extension movement of the shoulder. The lifting platform is provided with a sliding groove, the sliding groove is connected with the supporting rack through a bolt, and the supporting rack is connected with the first joint through a bolt, so that the whole shoulder rehabilitation exoskeleton robot is fixed on the lifting platform to adapt to people with different sitting postures and shoulder heights, and the adaptability of the shoulder rehabilitation exoskeleton robot is improved. The invention can drive three training modes of active, passive and impedance of the shoulder, and can meet the basic motion requirement of the shoulder.
Description
Technical Field
The invention relates to a robot, in particular to a shoulder rehabilitation exoskeleton robot, and belongs to the field of rehabilitation training robots.
Background
The increasing trend of stroke patients causes the number of stroke rehabilitation medical doctors to be difficult to meet the rehabilitation requirements of the patients. The advent of shoulder rehabilitation robots improves this situation and achieves certain results. The shoulder rehabilitation medical robot has two categories, namely a tail end traction type robot and an exoskeleton type robot, and the exoskeleton type robot is widely and deeply researched due to the advantages of large motion range, compact structure, capability of meeting the rehabilitation requirements of patients and the like. Patent No. CN113332098A provides a seven-degree-of-freedom upper limb rehabilitation robot mechanism, and the technical scheme is as follows: the mechanism mainly controls the motion of the shoulder, elbow and wrist, and can bring seven-degree-of-freedom rehabilitation training of the shoulder joint, the abduction, adduction and spinning motion, the elbow joint, the wrist joint and the flexion, adduction and flexion of the wrist joint and the radial flexion and ulnar flexion motion to a patient; patent No. CN113018108A provides a five-degree-of-freedom upper limb exoskeleton rehabilitation robot mechanism, which has the technical scheme that: the mechanism mainly controls the motion of the shoulder, elbow and wrist, and can bring five degrees of freedom rehabilitation training of the forward flexion-backward extension motion, the adduction-abduction motion and the rotation-inward-rotation-outward motion of the shoulder joint, the flexion-extension motion of the elbow joint and the radial flexion-ulnar flexion motion of the wrist joint for a patient. The above two patents mainly control the movement of the shoulder, elbow and wrist, and do not consider the influence of shoulder blades on the shoulder, which is a factor that most shoulder rehabilitation exoskeleton robots do not consider, so that the rehabilitation movement cannot be well realized.
Disclosure of Invention
In order to overcome the defects, the invention provides a five-degree-of-freedom shoulder rehabilitation exoskeleton robot for driving a scapular belt and a shoulder to move simultaneously.
The invention is realized by the following technical scheme: a shoulder rehabilitation exoskeleton robot, comprising:
the scapula component comprises a first joint, the first joint is connected with the shell, a second joint is installed on the shell, and the second joint is connected with a parallelogram mechanism.
The spherical hinge component comprises a third joint, the third joint is connected with the parallelogram mechanism, an output shaft is further mounted on the third joint, one end of the output shaft is connected with a fourth joint, a connecting rod is mounted on the fourth joint, and one end of the connecting rod is connected with a fifth joint.
And the base lifting platform is arranged below the first joint.
Furthermore, the first joint is composed of a first joint motor, a first joint coupling, a first joint reducer, a first joint output shaft, a first joint fixing shaft, a first bearing, a second bearing, a first shell, a second shell and a third shell, the first joint motor is connected with the second shell through bolts, the fixed end of the first joint motor is connected with the first joint fixing shaft, the first joint fixing shaft is in interference fit with the inner ring of the first bearing, the output end of the first joint motor is connected with the first joint coupling, the other end of the first joint coupling is connected with the first joint reducer, the first joint reducer is connected with the first shell and the second shell through screws, the second shell is connected with the third shell through screws, and the output end of the first joint reducer is connected with the first joint output shaft, and a screw for limiting the axial radial displacement of the first joint speed reducer is connected between the first joint speed reducer and the first joint output shaft, and the first joint output shaft is in interference connection with an inner ring of the second bearing.
Furthermore, the second joint is composed of a second joint motor, a second joint coupling, a second joint reducer, a second joint output shaft, a second joint input shaft, a third shell and a fourth shell, the second joint motor is connected with a fourth shell through a bolt, the other end of the fourth shell is connected with a third shell, the output end of the second joint motor is connected with a second joint coupling, the other end of the second joint coupling is connected with a second joint input shaft, the second joint input shaft is connected with the input end of a second joint reducer, a screw used for limiting the axial radial displacement of the second joint reducer is connected between the second joint reducer and the second joint input shaft, the other end of the second joint speed reducer is connected with a second joint output shaft, and the second joint output shaft is connected with a parallelogram mechanism.
Furthermore, the parallelogram mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first connecting rod is a third shell, the intersection of the first connecting rod and the second connecting rod is composed of a second joint output shaft and a first thrust shaft sleeve, the intersection of the first connecting rod and the fourth connecting rod is composed of a first thrust bearing, a second thrust rotating shaft, a second gasket, a second thrust bearing end cover and a second thrust shaft sleeve, the first connecting rod is connected with the first thrust bearing, the other end of the first thrust bearing is connected with the second thrust rotating shaft, the other end of the second thrust rotating shaft is connected with the second thrust shaft sleeve, and the joint of the second thrust rotating shaft and the second thrust shaft sleeve is connected with the second thrust bearing, the second gasket and the second thrust bearing end cover; the third connecting rod is a fifth shell, the intersection of the third connecting rod and the second connecting rod is composed of a third thrust bearing, a fourth thrust bearing, a third thrust rotating shaft, a third gasket, a third thrust bearing end cover and a third thrust shaft sleeve, the third connecting rod is connected with the third thrust bearing, the other end of the third thrust bearing is connected with the third thrust rotating shaft, the other end of the third thrust rotating shaft is connected with the third thrust shaft sleeve, and the fourth thrust bearing, the third gasket and the third thrust bearing end cover are connected at the connection position of the third thrust rotating shaft and the third thrust shaft sleeve; the intersection of the third connecting rod and the fourth connecting rod is composed of a fifth thrust bearing, a sixth thrust bearing, a fourth thrust rotating shaft, a fourth gasket, a fourth thrust bearing end cover and a fourth thrust shaft sleeve, the third connecting rod is connected with the fifth thrust bearing, the other end of the fifth thrust bearing is connected with the fourth thrust rotating shaft, the other end of the fourth thrust rotating shaft is connected with the fourth thrust shaft sleeve, and the sixth thrust bearing, the fourth gasket and the fourth thrust bearing end cover are connected at the joint of the fourth thrust rotating shaft and the fourth thrust shaft sleeve.
The second connecting rod consists of a first screw rod, a second screw rod and a first adjusting rotating shaft, the first thrust shaft sleeve is provided with an internal thread and is connected with the first screw rod through the internal thread, the first adjusting rotating shaft is provided with an internal thread and is connected with the first screw rod through the internal thread, the third thrust shaft sleeve is provided with an internal thread and is connected with the second screw rod through the internal thread, and the first adjusting rotating shaft is provided with an internal thread and is connected with the second screw rod through the internal thread; the fourth connecting rod is composed of a third screw rod, a fourth screw rod and a second adjusting rotating shaft, the second thrust shaft sleeve is provided with an internal thread and is connected with the third screw rod through the internal thread, the second adjusting rotating shaft is provided with an internal thread and is connected with the third screw rod through the internal thread, the fourth thrust shaft sleeve is provided with an internal thread and is connected with the fourth screw rod through the internal thread, and the second adjusting rotating shaft is provided with an internal thread and is connected with the fourth screw rod through the internal thread.
The second joint output shaft is connected with the first thrust shaft sleeve through a spline, a threaded hole is formed in the axial direction, and the positioning of the second joint output shaft and the first thrust shaft sleeve is further limited through a screw; the second thrust rotating shaft is connected with the second thrust shaft sleeve through a spline, a threaded hole is formed in the axial direction, and the positioning of the second thrust rotating shaft and the second thrust shaft sleeve is further limited through a screw; the third thrust rotating shaft is connected with the third thrust shaft sleeve through a spline, a threaded hole is formed in the axial direction, and the positioning of the third thrust rotating shaft and the third thrust shaft sleeve is further limited through a screw; the fourth thrust rotating shaft and the fourth thrust shaft sleeve are connected through splines, threaded holes are formed in the axial direction, and the positioning of the fourth thrust rotating shaft and the fourth thrust shaft sleeve is further limited through screws.
Further, the third joint is composed of a third joint motor, a third joint coupler, a third joint speed reducer, a third joint output shaft, a third joint input shaft, a fifth casing, a sixth casing, a seventh casing and a first connecting rod, the third joint motor is connected with the sixth casing through bolts, the output end of the third joint motor is connected with the third joint coupler, the other end of the third joint coupler is connected with the third joint input shaft, the third joint input shaft is connected with the input end of the third joint speed reducer, a screw for limiting the axial radial displacement of the third joint speed reducer is connected between the third joint speed reducer and the third joint input shaft, and the third joint speed reducer is connected with the sixth casing and the seventh casing through screws, the fifth shell is connected with the sixth shell through screws, the other end of the third joint speed reducer is connected with a third joint output shaft, the third joint output shaft is connected with a first connecting rod through screws, and the first connecting rod is connected with an eighth shell.
Furthermore, the fourth joint is composed of a fourth joint motor, a fourth joint coupler, a fourth joint reducer, a fourth joint output shaft, a fourth joint input shaft, an eighth shell and a second connecting rod, the fourth joint motor is connected with the seventh shell through a bolt, the output end of the fourth joint motor is connected with the fourth joint coupler, the other end of the fourth joint coupler is connected with the fourth joint input shaft, the fourth joint input shaft is connected with the input end of the fourth joint reducer, a screw for limiting the axial and radial displacement of the fourth joint reducer is connected between the fourth joint reducer and the fourth joint input shaft, the fourth joint reducer is connected with the seventh shell and the first connecting rod through screws, and the other end of the fourth joint reducer is connected with the fourth joint output shaft, the fourth joint output shaft is connected with a second connecting rod through a screw, and the second connecting rod is connected with a fifth joint fixing shaft.
Furthermore, the fifth joint is composed of a fifth joint motor, a fifth joint coupling, a fifth joint reducer, a fifth joint output shaft, a ninth shell, a tenth shell and a fifth joint fixing shaft, the fifth joint motor is connected with the ninth shell through a bolt, the output end of the fifth joint motor is connected with a fifth joint coupling, the other end of the fifth joint coupling is connected with a fifth joint input shaft, the other end of the fifth joint coupling is connected with the fifth joint input shaft, the fifth joint input shaft is connected with the input end of a fifth joint reducer, a screw used for limiting the axial radial displacement of the fifth joint reducer is connected between the fifth joint reducer and the fifth joint input shaft, and the fifth joint reducer is connected with the ninth shell and the tenth shell through screws, and the other end of the fifth joint reducer is connected with a fifth joint fixing shaft.
Further, the base lifting platform comprises a lifting platform, a transmission screw rod, a screw rod shaft sleeve, a bevel gear transmission, a coupler, a bearing, a support base plate, a support plate, a medical trundle, an expansion joint 1, an expansion joint 2 and an expansion joint 3, wherein the lifting platform is provided with a bolt hole and connected with the bolt hole in the expansion joint 1, the lifting platform is also provided with a sliding groove, the sliding groove is connected with a support rack through a bolt, and the support rack is connected with a first joint through a bolt, so that the whole shoulder rehabilitation exoskeleton robot is fixed on the lifting platform; the telescopic joint comprises a telescopic joint 1, a screw rod shaft sleeve, a screw rod shaft sleeve and a boss, wherein the two sides of the telescopic joint 1 are provided with slideways for limiting the displacement of the telescopic joint 1, the slideways of the telescopic joint 1 are matched with a sliding groove of the telescopic joint 2, a hole passage matched with the screw rod shaft sleeve is arranged in the telescopic joint 1, the hole passage of the telescopic joint 1 is connected with the screw rod shaft sleeve through the bolt, the screw rod shaft sleeve is connected with the screw rod through the screw thread so as to transmit power, and the bottom of the telescopic joint 1 is provided with the boss for limiting the over extension of the telescopic joint 1; the telescopic joint is characterized in that slide ways are arranged on two sides of the telescopic joint 2, two side faces, provided with the slide ways, of the telescopic joint 2 are provided with positioning holes, bolts are arranged inside the telescopic joint, the slide ways of the telescopic joint 2 are connected with slide grooves of the telescopic joint 3, bosses are arranged at the top and the bottom of the telescopic joint 2 respectively, the bosses at the top are used for limiting the telescopic joint 1 to extend out completely, bosses at the bottom are used for limiting the telescopic joint 2 to extend out completely, the telescopic joint 3 is connected with a supporting base plate and a supporting plate through bolts, and the supporting plate is connected with medical trundles through bolts.
The lead screw one end is located the pore of telescopic joint 1, and one end is connected with the shaft coupling in addition, the shaft coupling other end is connected with the transmission shaft, the transmission shaft is gone deep into on the big bevel gear, big bevel gear is connected with the thrust bearing who supports the downthehole floor, big bevel gear is connected with the little bevel gear, the little bevel gear is provided with the bearing that is used for supporting, the bearing that supports is connected with the bearing axle sleeve, the bearing axle sleeve is connected through the bolt with telescopic joint 3, the little bevel gear is located telescopic joint 3's lateral wall, the little bevel gear is provided with the keyway for thereby connect the hand wheel transmission power.
The invention has the beneficial effects that:
1. the designed two-degree-of-freedom scapula mechanism comprises two rotating joints, and the second rotating joint comprises a parallelogram mechanism. The parallelogram mechanism is a screw mechanism with adjustable length, can be suitable for patients with different shoulder widths, and can also solve the problems that the rotating center of the scapula deviates and the track radius is shortened and is different due to the body type and the shoulder flexibility of the patient. During movement, the projection lengths of two moving sides of the parallelogram in the coronal plane and the clavicle in the coronal plane are always kept consistent, and the intersection point of the three-degree-of-freedom spherical hinge joint is always kept consistent with the instantaneous rotation center of the shoulder complex body through the rotation of the first joint and the length compensation of the second joint, so that the problem that a patient is not coordinated with the motion of the shoulder rehabilitation exoskeleton robot is solved.
2. The designed shoulder rehabilitation exoskeleton robot consists of a two-degree-of-freedom scapular band mechanism and a three-degree-of-freedom spherical hinge mechanism, wherein the scapular band mechanism can drive the shoulder to realize forward extension and backward contraction and ascending and descending motions, the spherical hinge mechanism can drive the shoulder to realize inward contraction and outward expansion, inward rotation and outward rotation and flexion and extension motions, and the three-degree-of-freedom spherical hinge mechanism is crossed at one point. In the aspect of freedom degree configuration, the five active joints correspond to the basic motion of the five shoulders, so that the basic requirements of the shoulder motion of a patient can be met, the shoulder motion rehabilitation training effect is ensured, and the comfort of the patient is improved.
3. The designed shoulder rehabilitation exoskeleton robot is positioned on the back of a human body, and is only bound with the human body at the upper arm, so that the human body can be rehabilitated and trained by sitting on a common seat, the wearing convenience is improved, the designed lifting platform can adapt to crowds with different shoulder heights, and the clinical application of the shoulder rehabilitation exoskeleton robot can be improved.
4. The designed shoulder rehabilitation exoskeleton robot can also control three different training modes. When the patient is in a scene incapable of autonomous movement in the biased earlier stage, the shoulder rehabilitation exoskeleton robot can drive the patient to pull the limbs to complete the action of a preset track, and help the patient to perform a high-strength limb guidance task early; when the patient is in the biased middle and later periods, the shoulder rehabilitation exoskeleton robot can move along with the arm movement of the patient; when the patient is in the biased later period, shoulder muscle training with certain intensity is required, and then the shoulder rehabilitation exoskeleton robot can be in an impedance mode to coordinate with the patient to exercise the shoulder strength; in addition, in the teaching training mode, the shoulder rehabilitation exoskeleton robot can reproduce the motion trail of the demonstrator. Therefore, the patient can be helped to establish contact as early as possible in time, and the functional aspect meets the requirements of the patient.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the base structure of the present invention;
FIG. 3 is a schematic diagram of a five degree-of-freedom shoulder rehabilitation exoskeleton robot of the present invention;
FIG. 4 is a schematic diagram of a three-degree-of-freedom spherical hinge mechanism according to the present invention;
FIG. 5 is a schematic view of a parallelogram mechanism of the present invention;
FIG. 6 is a schematic exterior view of a first joint of the present invention;
FIG. 7 is a schematic illustration of internal structural components of the first joint of the present invention with the outer shell removed;
FIG. 8 is a schematic exterior view of a second joint of the present invention;
FIG. 9 is a schematic view showing the internal structure of the screw and the housing connection part of the present invention;
FIG. 10 is a schematic illustration of the internal structure of a second joint of the present invention with the outer shell removed;
FIG. 11 is a screw structure view of the present invention;
FIG. 12 is a schematic external view of a third joint of the present invention;
FIG. 13 is an internal structural view of a screw and a third joint housing connecting portion of the present invention;
FIG. 14 is a schematic view of the third joint of the present invention with the outer shell removed and the internal components removed;
FIG. 15 is a schematic exterior view of a fourth joint of the present invention;
FIG. 16 is a schematic illustration of the internal structure of a fourth joint of the present invention with the outer shell removed;
FIG. 17 is a schematic exterior view of a fifth joint of the present invention;
FIG. 18 is a schematic illustration of the internal structure of a fifth joint of the present invention with the outer shell removed;
FIG. 19 is a schematic view of a fourth-fifth joint linkage of the present invention.
In the figure, 1-a first joint, 2-a second joint, 3-a third joint, 4-a fourth joint, 5-a fifth joint, 6-a base, 7-a connecting rod, 001-a supporting frame, 002-a lifting platform, 003-a telescopic joint 1, 004-a telescopic joint 2, 005-a lead screw shaft sleeve, 006-a lead screw, 007-a coupler, 008-a supporting bottom plate, 009-a supporting plate, 010-a big bevel gear, 011-a thrust bearing, 012-a transmission shaft, 013-a medical truckle, 014-a bearing end cover, 015-a hand wheel, 016-a bearing shaft sleeve, 017-a deep groove ball bearing, 018-a small bevel gear, 019-a telescopic joint 3, 101-a bearing 1, 102-a first joint fixing shaft and 103-a first joint reducer, 104-bearing 2, 105-first joint coupling, 106-first joint motor, 107-first joint housing 1, 108-first joint input shaft, 109-first joint housing 2, 201-second joint motor, 202-second joint housing 1, 203-second joint housing 2, 204-second joint coupling, 205-second joint input shaft, 206-second joint reducer, 207-second joint output shaft, 208-left-hand screw, 209-adjusting rotating shaft, 210-thrust shaft sleeve, 211-right-hand screw, 212-thrust bearing, 213-thrust rotating shaft, 214-thrust bearing, 215-adjusting shim, 216-thrust bearing end cap, 301-third joint housing 1, 302-third joint housing 2, 303-third joint motor, 304-third joint housing 3, 305-third joint output shaft, 306-third joint speed reducer, 307-third joint input shaft, 308-third joint coupling, 309-third joint motor, 310-thrust bearing, 311-thrust rotation shaft, 312-thrust bearing, 313-adjustment shim, 314-thrust bearing end cap, 401-fourth joint motor, 402-fourth joint coupling, 403-fourth joint input shaft, 404-fourth joint speed reducer, 405-fourth joint output shaft, 406-fourth joint housing 1, 407-fourth joint housing 2, 501-fifth joint motor, 502-fifth joint coupling, 503-fifth joint input shaft, 504-fifth joint speed reducer; 505-a fifth joint output shaft; 506-fifth joint housing 1, 507-fifth joint housing 2, 508-end effector.
Detailed Description
The invention is further described with reference to the following figures and examples.
A shoulder rehabilitation exoskeleton robot comprises a five-degree-of-freedom shoulder rehabilitation exoskeleton robot (figure III) and a base 6 thereof. The five-degree-of-freedom shoulder rehabilitation exoskeleton robot further comprises a three-degree-of-freedom spherical hinge mechanism and a shoulder strap mechanism; the scapula mechanism consists of a first joint 1 and a second joint 2, and the spherical hinge mechanism consists of a third joint 3, a fourth joint 4 and a fifth joint 5.
Fig. 2 is a schematic structural diagram of a base, and the lifting platform 002 is lifted by a bevel gear transmission and a lead screw transmission; the rotation of the small bevel gear 010 and the large bevel gear 018 are driven by a hand wheel 015, and the rotation direction of the small bevel gear 010 and the large bevel gear 018 is controlled by rotating the direction of the hand wheel 015, so that the up-and-down linear motion of the lead screw 006 is realized, and the lifting of the platform 002 is realized.
The base lifting platform mainly comprises a 001-supporting frame, a lifting platform 002, a 003-telescopic joint 1, a 004-telescopic joint 2, a 005-lead screw shaft sleeve, a 006-lead screw, a 007-coupler, a 008-supporting bottom plate, a 009-supporting plate, a 010-big bevel gear, a 011-thrust bearing, a 012-transmission shaft, a 013-medical trundle, a 014-bearing end cover, a 015-hand wheel, a 016-bearing shaft sleeve, a 017-deep groove ball bearing, a 018-small bevel gear and a 019-telescopic joint 3; the lifting platform 002 is provided with four bolt holes which are matched with the bolt holes on the telescopic joints 1-003, the movement of the lifting platform 002 follows the up-and-down movement of the telescopic joint 1, the lifting platform 002 is provided with a chute and is fixed with the supporting rack 001 through bolts, so that the whole shoulder rehabilitation exoskeleton robot is fixed on the lifting platform 002; the top surface of the telescopic joint 1-003 is closed, four threaded holes are formed, sliding ways are arranged on two sides and used for limiting the displacement of the telescopic joint 1-003, a pore passage matched with the lead screw shaft sleeve 005 is formed in the telescopic joint, the pore passage and four side surfaces adopt reinforcing rib design, the influence on the matching of the lead screw shaft sleeve 005 and the lead screw 006 and the deformation of the lead screw 006 due to the posture position change of the shoulder rehabilitation exoskeleton robot is prevented, the sliding ways of the telescopic joint 1-003 are matched with the sliding grooves of the telescopic joint 2-004, the pore passages of the telescopic joint 1-003 are in bolt connection with the lead screw shaft sleeve 005, the lead screw shaft sleeve 005 is in threaded matching with the lead screw 006 to transmit power, bosses are arranged on the periphery of the bottom of the telescopic joint 1-003 and limit the telescopic joint 1-003 to be excessively extended; the two side faces of the expansion joint 2-004 are also provided with slide ways which are matched with the slide ways of the expansion joint 3-019, the top and the bottom of the expansion joint are both provided with bosses, the top boss limits the expansion joint 1-003 to be completely extended, the bottom boss limits the expansion joint 2-004 to be completely extended, in addition, the two side faces of the expansion joint 2-004 with the slide ways are provided with positioning holes, and positioning bolts are arranged inside the expansion joint. The telescopic joint 3 is connected with the supporting bottom plate 008 and the supporting plate 009 through bolts, four positioning bolts are also arranged on the telescopic joint 3-019 and placed on the inner wall, and the supporting plate is connected with the medical caster 013 through bolts; one end of the screw 006 is located in the hole channel of the telescopic joint 1-003, the other end is connected with the shaft coupling 007, one end of the shaft coupling 007 is connected with the transmission shaft 012, and the transmission shaft 012 and the screw 006 are connected by the shaft coupling 007. The transmission shaft 012 extends into the big bevel gear 010, and the big bevel gear 010 is placed on the thrust bearing 011 in the supporting bottom plate hole; reinforcing ribs are arranged on the periphery of the hole of the supporting bottom plate and are through holes, so that the thrust bearing 011 is convenient to disassemble; a small bevel gear shaft 018 matched with the large bevel gear 010 is positioned on the side wall of the telescopic joint 3 and is provided with a deep groove ball bearing 017 for supporting, a bearing is placed in a bearing shaft sleeve 016, the bearing shaft sleeve 016 is connected to the telescopic joint 3-019 in a bolt mode, and a bearing end cover 014 is connected to the bearing shaft sleeve 016 in a bolt mode and used for limiting the axial displacement of the small bevel gear 018; a key groove is formed in the small bevel gear 018 and is used for connecting a hand wheel 015 to transmit power torque.
The shoulder rehabilitation exoskeleton robot consists of a left arm and a right arm which are in mirror symmetry, so that only one shoulder mechanism is analyzed.
The shoulder rehabilitation exoskeleton robot consists of five joints, as shown in fig. 3. As shown in fig. 5, the first joint and the second joint form a scapular band mechanism, the total length of the shell of the third joint remains unchanged, so that the lengths of the L1 and the L3 are unchanged, the parallelogram mechanism only changes the length of the L2 and the L4 (i.e. the distance between the second joint and the third joint) and the angle of each side, a threaded hole is formed in the thrust rotating shaft sleeve, the output shaft 207 and the thrust rotating shaft sleeve 210 are matched through a screw, the thrust rotating shaft sleeve 210 is matched with the screw 211, the screw is respectively matched with the thrust shaft sleeve and the internal thread of the adjusting rotating shaft, the screw rotation directions at the two ends are different, and when the torque output by the second joint motor 201 drives the output shaft 207 of the second joint to rotate, so that the thrust rotating shaft sleeve 210 is driven to rotate, thereby realizing the change of the angle; when adjusting pivot 209 and rotating to one side, can adjust both sides screw rod like this and extend or retract simultaneously, because thrust axle sleeve 210 also has the screw thread and screw rod cooperation, consequently the screw rod can drive both sides thrust axle sleeve and remove at the removal in-process to reach the function of adjusting second joint and third joint distance, satisfy different shoulder width people's demand.
The third joint, the fourth joint and the fifth joint form a spherical hinge mechanism, the axes of the spherical hinge mechanism are intersected at a point O, each joint realizes respective motion, the speed and the angle are transmitted to the end effector to realize the function of the end arm, as shown in fig. 4, the third joint output shaft 305 is connected to the shell 407 of the fourth joint through a bolt, the fourth joint and the fifth joint output shaft adopt the same method, the fourth joint output shaft 405 is connected with a connecting rod 7, the power is transmitted to the connecting rod, the connecting rod drives the fifth joint to move, and the fifth joint uses the connecting rod as a frame to rotate around the axes of the fifth joint to complete the rotation of the binding belt mechanism.
Each joint will be described in detail below
The first joint (see fig. 6 and 7) mainly comprises a first joint motor 106, a first joint coupler 105, a first joint input shaft 108, a first joint reducer 103, a first joint fixing shaft 101, bearings 1-102, bearings 2-104, first joint shells 1-107 and first joint shells 2-109, wherein the first joint motor 106 is fixedly connected with the first joint shells 2-107 through three positioning bolts, a first joint motor output shaft 108 is connected with the first joint coupler 105, the first joint coupler 105 is connected with the first joint input shaft 108, the first joint input shaft 108 is connected with the bearings 2-104, the first joint input shaft 108 is matched with an inner hole at the input end of the first joint reducer, the first joint reducer fixing end is connected with the first joint fixing shaft 101, the first joint fixing shaft 108 is connected with the bearings 1-102, and the axial radial displacement of the input shaft of the first joint speed reducer is limited by a fastening screw, and the first joint speed reducer is fixedly connected with the first joint shell 1-107 and the first joint shell 2-109 through stud bolts.
A second joint (see fig. 8, 9, 10 and 11), which mainly comprises a second joint motor 201, a second joint coupling 204, a second joint input shaft 205, a second joint output shaft 207, a second joint reducer 206, second joint housings 1-202, second joint housings 2-203 and a thrust rotating shaft 213, wherein the second joint motor 201 is fixedly connected with the second joint housing 202 through three positioning bolts, the second joint motor output shaft 205 is connected with an inner hole of the second joint coupling 204, the other end of the second joint coupling 204 is connected with the second joint input shaft 205, and the second joint input shaft 205 is matched with an inner hole of an input end of the second joint reducer for transmitting power; the second joint reducer 206 is fixed with the second joint housing 202 through a stud bolt, the output end of the second joint reducer is fixedly connected with a second joint output shaft 207 for outputting power, in addition, the second joint housing 1-202 is fixedly connected with the connecting hole of the second joint housing 2-203 through three positioning holes by bolts and nuts, and the second joint housing 2-203 is fixed on the second joint housing 1-202, so that the frame side of the parallelogram mechanism and the second joint are kept in a relative static state; the second joint output shaft 207 is matched with the thrust shaft sleeve 210, the second joint output shaft 207 is provided with a spline and is provided with a threaded hole along the axial direction, the thrust shaft sleeve 210 is matched with the spline on the output shaft 207, the thrust shaft sleeve 210 and the output shaft 207 are fixed through a bolt, and the thrust shaft sleeve 210 is prevented from being separated from the output shaft 207 in the movement process; in a similar way, the thrust rotating shaft on the opposite side is also provided with a spline and a threaded hole and is matched with the thrust shaft sleeve, and in order to prevent the thrust rotating shaft from being seriously worn in the rotating process of the parallelogram, thrust bearings (212 and 214) are arranged on two sides of the thrust rotating shaft and are arranged on holes 2 to 203 of the second joint shell. In order to prevent the thrust bearings (212, 214) from being displaced axially, the thrust bearings are fixed by adding the adjusting shim 215 and the bearing end cap 217, and the bearing end cap 217 is fixedly connected with the second joint housing 2-203 through bolts.
The second joint comprises a parallelogram mechanism (see fig. 5), wherein the second joint shells 2-203 are taken as frame sides, the opposite sides of the frame are arranged on a third joint shell 301, the two shell screws are connected, the screws are respectively matched and connected with the adjusting rotating shaft through a left-handed screw 208 and a right-handed bolt 211, and the thrust shaft sleeve hole is internally provided with internal threads which are matched with the screws to form the parallelogram mechanism.
The third joint mainly comprises a third joint motor 303, a third joint coupler 308, a third joint speed reducer 306, third joint housings 1-301, third joint housings 2-302, third joint housings 3-304, a third joint input shaft 307, a third joint output shaft 305, a thrust bearing, a thrust rotating shaft 311, an adjusting gasket 313 and a thrust bearing end cover 314. The third joint motor 303 is fixed on the third joint shell 2-302 through three positioning bolts, the third joint motor output shaft 305 is matched with an inner hole at one end of the third joint coupler 308, an inner hole at the other end of the third joint coupler 308 is matched with the third joint input shaft 307 and is fastened through bolts, the third joint input shaft 307 is fixed in an inner hole at the input end of the third joint speed reducer 306 through fastening screws, the third joint speed reducer 306 is fixed on the third joint shell 1-301, the output end of the speed reducer is connected with the third joint output shaft 305, the third joint output shaft 305 is connected with the fourth joint shell 2-407 through a threaded hole in the axial direction, the third joint shell 1-301 and the third joint shell 2-302 are connected with a connecting hole through a positioning hole and a bolt, bearing holes are arranged at the bottom ends of the two shells, and a thrust bearing 310, a thrust bearing and a thrust bearing are sequentially placed in the holes, The thrust rotating shaft 311, the thrust bearing 312, the adjusting gasket 313 and the bearing end cover 314 are fixedly connected with the third joint shell 3-304 by bolts, and the two shells (301 and 302) are fixedly connected to form the opposite sides of the frame of the parallelogram mechanism.
A fourth joint (see fig. 15 and 16) composed of a fourth joint motor 401, a fourth joint coupler 402, a fourth joint reducer 404, a fourth joint input shaft 403, a fourth joint output shaft 405, fourth joint housings 1-406, and fourth joint housings 2-407, wherein the fourth joint motor 401 is fixed on the fourth joint housings 1-406 by three positioning bolts, the fourth joint motor output shaft is matched with an inner hole at one end of the fourth joint coupler 403, an inner hole at the other end of the fourth joint coupler 402 is matched with the fourth joint input shaft 403, and is fastened by a bolt, a fourth joint input shaft 403 is fixed in an inner hole of an input end of a fourth joint reducer 404 by a fastening screw, the fourth joint reducer 404 is fixed on fourth joint shells 2-407, an output end of the fourth joint reducer is connected with a fourth joint output shaft 405, and the fourth joint output shaft 405 is matched with a connecting rod 7 through a threaded hole in the axial direction.
A fifth joint (see fig. 17, 18 and 19), which is composed of a fifth joint motor 501, a fifth joint coupling 502, a fifth joint reducer 504, a fifth joint input shaft 503, a fifth joint output shaft 505, fifth joint housings 1-506, fifth joint housings 2-507 and an end effector 508, wherein the fifth joint motor 501 is fixed on the fifth joint housings 1-506 through three positioning bolts, the fifth joint motor output shaft is matched with an inner hole at one end of the fifth joint coupling 502, an inner hole at the other end of the fifth joint coupling 502 is matched with the fifth joint input shaft 503 and is fastened through bolts, the fifth joint input shaft 503 is fixed in an inner hole at the input end of the fifth joint reducer 504 through fastening screws, the fifth joint reducer 504 is fixed on the fifth joint housing 507, the output end of the fifth joint reducer is connected with the fifth joint output shaft 505, the fifth joint output shaft 505 is connected to the link 7 through a threaded hole in the axial direction, and the fifth joint housings 2 to 507 and the end effector 508 are connected by bolts.
Principle of operation
A hand-operated adjusting hand wheel 015 transmits power to a large bevel gear 010 through a small bevel gear 018, the large bevel gear 010 is transmitted to a transmission shaft 012 through a key slot, the transmission shaft is connected with a coupler 007, the coupler 007 is connected with a lead screw 006, the lead screw 006 rotates, and telescopic joints 1-003 and telescopic joints 2-004 are driven to move up and down through a lead screw shaft sleeve 005 matched with the lead screw 006, so that the lifting motion of the base platform is realized; when the lifting platform is in the lifting process, the bosses at the bottoms of the telescopic joints 1-003 are in contact with the bosses on the telescopic joints 2-004, the telescopic joints 2-004 are driven to lift, when the bosses at the bottoms of the telescopic joints 2-004 are in contact with the bosses 3-019, the lifting is stopped, the telescopic joints are completely extended at the moment, and the height of the lifting platform 002 reaches the maximum value; the hand wheel 015 is rotated reversely, the telescopic joint 1-003 begins to retract, when the boss at the bottom of the telescopic joint 1-003 touches the positioning bolt on the inside of the telescopic joint 2-004, the retraction motion of the telescopic joint 2-004 can be driven, when the boss at the bottom of the telescopic joint 2-004 touches the positioning bolt of the telescopic joint 3, the descent can be stopped, at the moment, the telescopic joint retracts completely, and the height of the lifting platform 002 reaches the minimum value; the ascending and descending range is 320mm, and the requirement of adjusting the sitting posture and the shoulder height of 99 percent of patients can be met. After the sitting posture and shoulder height of the patient are adjusted, the shoulder rehabilitation exoskeleton robot moves; the specific motion process is as follows: the output end of the first joint is fixed on the frame, and the whole machine is driven to rotate by the rotation of the first joint 1, so that the ascending and descending movement of the shoulder is realized; the second joint 2 is designed by adopting a parallelogram mechanism, so that the stability of a connecting structure with the three-degree-of-freedom spherical hinge mechanism is enhanced. The side of the second joint 2 parallel to the axis of the first joint is a frame side, the frame side and the second joint are kept relatively static, the opposite side of the second joint is fixed with the shell of the third joint, and by utilizing the characteristic of a parallelogram mechanism, when the second joint 2 rotates, two adjacent sides are driven to do circular arc motion in parallel, so that the three-degree-of-freedom spherical hinge mechanism is driven to realize the forward-extending and backward-retracting motion of the shoulder. The third joint shell is fixed on a parallelogram mechanism of the second joint, and when the third joint 3 is driven, the fourth joint 4 and the fifth joint 5 are driven to rotate, so that the adduction and abduction of the shoulder are realized; the fourth joint 4 is connected with the third joint 5 through a connecting rod 7, and the fourth joint 4 drives the fifth joint 5 to rotate so as to realize the internal rotation and external rotation of the shoulder; similarly, the fifth joint 5 is connected with the fourth joint 4 through a connecting rod 7, so that the flexion and extension movement of the shoulder is realized.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (9)
1. A shoulder rehabilitation exoskeleton robot, comprising:
the scapula component comprises a first joint, the first joint is connected with the shell, a second joint is installed on the shell, and the second joint is connected with a parallelogram mechanism.
The spherical hinge component comprises a third joint, the third joint is connected with the parallelogram mechanism, an output shaft is further mounted on the third joint, one end of the output shaft is connected with a fourth joint, a second connecting rod is mounted on the fourth joint, and one end of the second connecting rod is connected with a fifth joint.
And the base lifting platform is arranged below the first joint.
2. The shoulder rehabilitation exoskeleton robot as claimed in claim 1, wherein the first joint is composed of a first joint motor, a first joint coupler, a first joint reducer, a first joint output shaft, a first joint fixing shaft, a first bearing, a second bearing, a first shell, a second shell and a third shell, the first joint motor is connected with the second shell through a bolt, a fixing end of the first joint motor is connected with the first joint fixing shaft, the first joint fixing shaft is in interference connection with an inner ring of the first bearing, an output end of the first joint motor is connected with the first joint coupler, the other end of the first joint coupler is connected with the first joint reducer, the first joint reducer is connected with the first shell and the second shell through screws, the second shell is connected with the third shell through screws, the output end of the first joint speed reducer is connected with a first joint output shaft, a screw used for limiting axial and radial displacement of the first joint speed reducer is connected between the first joint speed reducer and the first joint output shaft, and the first joint output shaft is in interference connection with an inner ring of the second bearing.
3. The shoulder rehabilitation exoskeleton robot of claim 1, wherein the second joint is comprised of a second joint motor, a second joint coupling, a second joint reducer, a second joint output shaft, a second joint input shaft, a third housing, and a fourth housing. The second joint motor is connected with a fourth shell through a bolt, the other end of the fourth shell is connected with a third shell, the output end of the second joint motor is connected with a second joint coupler, the other end of the second joint coupler is connected with a second joint input shaft, the second joint input shaft is connected with the input end of a second joint reducer, a screw used for limiting the axial and radial displacement of the second joint reducer is connected between the second joint reducer and the second joint input shaft, the other end of the second joint reducer is connected with a second joint output shaft, and the second joint output shaft is connected with a parallelogram mechanism.
4. The shoulder rehabilitation exoskeleton robot of claim 3, wherein the parallelogram mechanism comprises a first link, a second link, a third link, and a fourth link, the first connecting rod is a third shell, the intersection point of the first connecting rod and the second connecting rod is composed of a second joint output shaft and a first thrust shaft sleeve, the intersection point of the first connecting rod and the fourth connecting rod consists of a first thrust bearing, a second thrust rotating shaft, a second washer, a second thrust bearing end cover and a second thrust shaft sleeve, the first connecting rod is connected with a first thrust bearing, the other end of the first thrust bearing is connected with a second thrust rotating shaft, the other end of the second thrust rotating shaft is connected with a second thrust shaft sleeve, a second thrust bearing, a second gasket and a second thrust bearing end cover are connected at the joint of the second thrust rotating shaft and the second thrust shaft sleeve; the third connecting rod is a fifth shell, the intersection of the third connecting rod and the second connecting rod is composed of a third thrust bearing, a fourth thrust bearing, a third thrust rotating shaft, a third gasket, a third thrust bearing end cover and a third thrust shaft sleeve, the third connecting rod is connected with the third thrust bearing, the other end of the third thrust bearing is connected with the third thrust rotating shaft, the other end of the third thrust rotating shaft is connected with the third thrust shaft sleeve, and the fourth thrust bearing, the third gasket and the third thrust bearing end cover are connected at the connection position of the third thrust rotating shaft and the third thrust shaft sleeve; the intersection of the third connecting rod and the fourth connecting rod is composed of a fifth thrust bearing, a sixth thrust bearing, a fourth thrust rotating shaft, a fourth gasket, a fourth thrust bearing end cover and a fourth thrust shaft sleeve, the third connecting rod is connected with the fifth thrust bearing, the other end of the fifth thrust bearing is connected with the fourth thrust rotating shaft, the other end of the fourth thrust rotating shaft is connected with the fourth thrust shaft sleeve, and the sixth thrust bearing, the fourth gasket and the fourth thrust bearing end cover are connected at the joint of the fourth thrust rotating shaft and the fourth thrust shaft sleeve.
The second connecting rod is composed of a first screw rod, a second screw rod and a first adjusting rotating shaft, the first thrust shaft sleeve is provided with an internal thread and is connected with the first screw rod through the internal thread, the first adjusting rotating shaft is provided with an internal thread and is connected with the first screw rod through the internal thread, the third thrust shaft sleeve is provided with an internal thread and is connected with the second screw rod through the internal thread, and the first adjusting rotating shaft is provided with an internal thread and is connected with the second screw rod through the internal thread; the fourth connecting rod is composed of a third screw rod, a fourth screw rod and a second adjusting rotating shaft, the second thrust shaft sleeve is provided with an internal thread and is connected with the third screw rod through the internal thread, the second adjusting rotating shaft is provided with an internal thread and is connected with the third screw rod through the internal thread, the fourth thrust shaft sleeve is provided with an internal thread and is connected with the fourth screw rod through the internal thread, and the second adjusting rotating shaft is provided with an internal thread and is connected with the fourth screw rod through the internal thread.
The second joint output shaft is connected with the first thrust shaft sleeve through a spline, a threaded hole is formed in the axial direction, and the positioning of the second joint output shaft and the first thrust shaft sleeve is further limited through a screw; the second thrust rotating shaft is connected with the second thrust shaft sleeve through a spline, a threaded hole is formed in the axial direction, and the positioning of the second thrust rotating shaft and the second thrust shaft sleeve is further limited through a screw; the third thrust rotating shaft is connected with the third thrust shaft sleeve through a spline, a threaded hole is formed in the axial direction, and the positioning of the third thrust rotating shaft and the third thrust shaft sleeve is further limited through a screw; the fourth thrust rotating shaft and the fourth thrust shaft sleeve are connected through splines, threaded holes are formed in the axial direction, and the positioning of the fourth thrust rotating shaft and the fourth thrust shaft sleeve is further limited through screws.
5. The shoulder rehabilitation exoskeleton robot of claim 1, wherein the third joint is composed of a third joint motor, a third joint coupler, a third joint reducer, a third joint output shaft, a third joint input shaft, a fifth shell, a sixth shell, a seventh shell and a first connecting rod, the third joint motor is connected with the sixth shell through a bolt, an output end of the third joint motor is connected with the third joint coupler, the other end of the third joint coupler is connected with the third joint input shaft, the third joint input shaft is connected with an input end of the third joint reducer, and a screw for limiting axial and radial displacement of the third joint reducer is connected between the third joint reducer and the third joint input shaft, the third joint speed reducer is connected with a sixth shell and a seventh shell through screws, the fifth shell is connected with the sixth shell through screws, the other end of the third joint speed reducer is connected with a third joint output shaft, the third joint output shaft is connected with a first connecting rod through screws, and the first connecting rod is connected with an eighth shell.
6. The shoulder rehabilitation exoskeleton robot as claimed in claim 1, wherein the fourth joint is composed of a fourth joint motor, a fourth joint coupler, a fourth joint reducer, a fourth joint output shaft, a fourth joint input shaft, an eighth housing and a second connecting rod, the fourth joint motor is connected with the seventh housing through a bolt, an output end of the fourth joint motor is connected with the fourth joint coupler, the other end of the fourth joint coupler is connected with the fourth joint input shaft, the fourth joint input shaft is connected with an input end of the fourth joint reducer, a screw for limiting axial and radial displacement of the fourth joint reducer is connected between the fourth joint reducer and the fourth joint input shaft, and the fourth joint reducer is connected with the seventh housing and the first connecting rod through screws, the other end of the fourth joint speed reducer is connected with a fourth joint output shaft, the fourth joint output shaft is connected with a second connecting rod through a screw, and the second connecting rod is connected with a fifth joint fixing shaft.
7. The shoulder rehabilitation exoskeleton robot as claimed in claim 1, wherein the fifth joint is composed of a fifth joint motor, a fifth joint coupler, a fifth joint reducer, a fifth joint output shaft, a ninth shell, a tenth shell and a fifth joint fixing shaft, the fifth joint motor is connected with the ninth shell through a bolt, the output end of the fifth joint motor is connected with the fifth joint coupler, the other end of the fifth joint coupler is connected with the fifth joint input shaft, the fifth joint input shaft is connected with the input end of the fifth joint reducer, a screw for limiting the axial radial displacement of the fifth joint reducer is connected between the fifth joint reducer and the fifth joint input shaft, and the fifth joint reducer is connected with the ninth shell and the tenth shell through screws, the other end of the fifth joint reducer is connected with a fifth joint fixing shaft.
8. The shoulder rehabilitation exoskeleton robot of claim 1, wherein the base lifting platform comprises a lifting platform, a transmission lead screw, a lead screw shaft sleeve, a bevel gear transmission, a coupler, a bearing, a support base plate, a support plate, a medical caster, a telescopic joint 1, a telescopic joint 2, a telescopic joint 3 and a support frame. The lifting platform is provided with a bolt hole which is connected with the bolt hole on the telescopic joint 1, the lifting platform is also provided with a sliding groove, the sliding groove is connected with a supporting rack through a bolt, and the supporting rack is connected with a first joint through a bolt, so that the whole shoulder rehabilitation exoskeleton robot is fixed on the lifting platform; the telescopic joint comprises a telescopic joint 1, a screw rod shaft sleeve, a screw rod shaft sleeve and a boss, wherein the two sides of the telescopic joint 1 are provided with slideways for limiting the displacement of the telescopic joint 1, the slideways of the telescopic joint 1 are matched with a sliding groove of the telescopic joint 2, a hole passage matched with the screw rod shaft sleeve is arranged in the telescopic joint 1, the hole passage of the telescopic joint 1 is connected with the screw rod shaft sleeve through the bolt, the screw rod shaft sleeve is connected with the screw rod through the screw thread so as to transmit power, and the bottom of the telescopic joint 1 is provided with the boss for limiting the over extension of the telescopic joint 1; the telescopic joint is characterized in that slide ways are arranged on two sides of the telescopic joint 2, two side faces, provided with the slide ways, of the telescopic joint 2 are provided with positioning holes, bolts are arranged inside the telescopic joint, the slide ways of the telescopic joint 2 are connected with slide grooves of the telescopic joint 3, bosses are arranged at the top and the bottom of the telescopic joint 2 respectively, the bosses at the top are used for limiting the telescopic joint 1 to extend out completely, bosses at the bottom are used for limiting the telescopic joint 2 to extend out completely, the telescopic joint 3 is connected with a supporting base plate and a supporting plate through bolts, and the supporting plate is connected with medical trundles through bolts.
9. The lead screw one end is located the pore of telescopic joint 1, and one end is connected with the shaft coupling in addition, the shaft coupling other end is connected with the transmission shaft, the transmission shaft is gone deep into on the big bevel gear, big bevel gear is connected with the thrust bearing who supports the downthehole floor, big bevel gear is connected with the little bevel gear, the little bevel gear is provided with the bearing that is used for supporting, the bearing that supports is connected with the bearing axle sleeve, the bearing axle sleeve is connected through the bolt with telescopic joint 3, the little bevel gear is located telescopic joint 3's lateral wall, the little bevel gear is provided with the keyway for thereby connect the hand wheel transmission power.
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| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
| CN113018108A (en) * | 2021-04-16 | 2021-06-25 | 长春工业大学 | Five-degree-of-freedom upper limb exoskeleton rehabilitation robot |
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| CA2684971A1 (en) * | 2007-05-01 | 2008-11-06 | Queen's University At Kingston | Robotic exoskeleton for limb movement |
| WO2012175211A1 (en) * | 2011-06-21 | 2012-12-27 | Sabanci University | Exoskeleton |
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