CN114533496B - Shoulder rehabilitation exoskeleton robot - Google Patents
Shoulder rehabilitation exoskeleton robot Download PDFInfo
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- CN114533496B CN114533496B CN202210223488.9A CN202210223488A CN114533496B CN 114533496 B CN114533496 B CN 114533496B CN 202210223488 A CN202210223488 A CN 202210223488A CN 114533496 B CN114533496 B CN 114533496B
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- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 239000003638 chemical reducing agent Substances 0.000 claims description 65
- 238000010168 coupling process Methods 0.000 claims description 36
- 238000005859 coupling reaction Methods 0.000 claims description 36
- 230000008878 coupling Effects 0.000 claims description 34
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 239000011148 porous material Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 42
- 230000001174 ascending effect Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 abstract 1
- 230000009467 reduction Effects 0.000 description 18
- 210000001503 joint Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 208000006011 Stroke Diseases 0.000 description 4
- 239000012636 effector Substances 0.000 description 4
- 235000004443 Ricinus communis Nutrition 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects 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
- 230000003068 static effect Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
Landscapes
- 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 the shoulder of a patient to realize five-degree-of-freedom movement. The shoulder rehabilitation exoskeleton robot includes: the shoulder blade belt mechanism, the spherical hinge mechanism and the base lifting platform; the shoulder blade belt mechanism comprises a first joint and a second joint, and the ascending, descending and the forward, stretching and backward shrinking movements of the shoulder are respectively controlled. The spherical hinge mechanism comprises a third joint, a fourth joint and a fifth joint, and can respectively control the inward-outward expansion, the inward-rotation and the outward-rotation and the buckling and stretching motions of the shoulder. The lifting platform is provided with a chute, the chute is connected with a support frame through a bolt, and the support frame is connected with a first joint through a bolt, so that the whole shoulder rehabilitation exoskeleton robot is fixed on the lifting platform, people with different sitting postures and high shoulders are adapted, and the adaptability of the shoulder rehabilitation exoskeleton robot is improved. The invention can drive three training modes of initiative, passive and impedance of the shoulder, and can meet the basic movement 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
In recent years, cerebral apoplexy has become the first cause of death in China, and the common obstacle brought by cerebral apoplexy is shoulder paralysis, losing independent living ability and seriously endangering living health of people. The increasing trend of stroke patients causes the number of stroke rehabilitation therapists to be difficult to meet the rehabilitation requirements of the patients. The appearance of the shoulder rehabilitation robot improves the situation and achieves a certain effect. The shoulder rehabilitation medical robots are two main types, namely a tail end traction type robot and an exoskeleton type robot, and the exoskeleton type robot has the advantages of large movement range, compact structure, capability of meeting the rehabilitation requirements of patients and the like, and is widely and deeply studied. The patent number CN113332098A provides a seven degrees of freedom upper limb rehabilitation robot mechanism, and the technical scheme is as follows: the mechanism mainly controls the movement of the shoulder, elbow and wrist, and can bring seven degrees of freedom rehabilitation training for the forward and backward flexion movement, the abduction and adduction movement and the spin movement of the shoulder joint, the flexion and extension movement and the spin movement of the elbow joint, the eversion and adduction movement of the wrist joint and the flexion movement of the radius and ulnar; the patent number CN113018108A provides a five-degree-of-freedom upper limb exoskeleton rehabilitation robot mechanism, which has the technical scheme that: the mechanism mainly controls the movement of the shoulder, elbow and wrist, and can bring five degrees of freedom rehabilitation training for the forward flexion and backward extension movement, the inward contraction and outward extension movement, the inward rotation and outward rotation movement, the flexion and extension movement of the elbow joint and the flexion and ulnar movement of the wrist joint to the patient. The above two patents mainly control the movement of the shoulder, elbow and wrist without considering the influence of the shoulder blade on the shoulder, which is also an unaccounted factor of most shoulder rehabilitation exoskeleton robots, so rehabilitation movement cannot be well realized.
Disclosure of Invention
Aiming at the defects, the invention provides a five-degree-of-freedom shoulder rehabilitation exoskeleton robot for driving a shoulder blade belt and a shoulder to move simultaneously.
The invention is realized by the following technical scheme: a shoulder rehabilitation exoskeleton robot, comprising:
the shoulder blade belt component comprises a first joint, the first joint is connected with a shell, a second joint is mounted 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 installed on the third joint, one end of the output shaft is connected with a fourth joint, a connecting rod is installed on the fourth joint, and one end of the connecting rod is connected with a fifth joint.
The base lifting platform is arranged below the first joint.
Further, the first joint comprises first joint motor, first joint shaft coupling, first joint reduction gear, first joint output shaft, first joint fixed axle, first bearing, second bearing, first shell, second shell and third shell, first joint motor passes through the bolt and is connected with the second shell, the stiff end of first joint motor is connected with first joint fixed axle, first joint fixed axle is connected with the inner circle interference of first bearing, the output of first joint motor is connected with first joint shaft coupling, the first joint shaft coupling other end is connected with first joint reduction gear, first joint reduction gear is connected with first shell and second shell through the screw, the second shell is connected with the third shell through the screw, the output of first joint reduction gear is connected with first joint output shaft, be connected with the screw that is used for restricting first joint reduction gear axial displacement between first joint reduction gear and the first joint output shaft, first joint and the interference of second joint output shaft are connected.
Further, the second joint is composed of a second joint motor, a second joint coupler, a second joint speed 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 the fourth shell through a bolt, the other end of the fourth shell is connected with the 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 speed reducer, a screw used for limiting axial radial displacement of the second joint speed reducer is connected between the second joint speed 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.
Further, 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 point of the first connecting rod and the second connecting rod consists 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 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 connection point 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 point of the third connecting rod and the second connecting rod consists 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 connection point of the third thrust rotating shaft and the third thrust shaft sleeve is connected with the fourth thrust bearing, the third gasket and the third thrust bearing end cover; the intersection point of the third connecting rod and the fourth connecting rod consists 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 joint of the fourth thrust rotating shaft and the fourth thrust shaft sleeve is connected with the sixth thrust bearing, the fourth gasket and the fourth thrust bearing end cover.
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 comprises third screw rod, fourth screw rod, second regulation pivot, second thrust axle sleeve is provided with the internal thread, is connected with the third screw rod through the internal thread, second regulation pivot is provided with the internal thread, is connected with the third screw rod through the internal thread, fourth thrust axle sleeve is provided with the internal thread, is connected with the fourth screw rod through the internal thread, second regulation pivot is provided with the internal thread, 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 axis direction, and the positioning of the second joint output shaft 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 axis direction, and the positioning of the second thrust rotating shaft 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 is further limited through a screw; the fourth thrust rotating shaft is connected with the fourth thrust shaft sleeve through a spline, a threaded hole is formed in the axis direction, and the positioning of the fourth thrust rotating shaft is further limited through a screw.
Further, the third joint comprises third joint motor, third joint shaft coupling, third joint reduction gear, third joint output shaft, third joint input shaft, fifth shell, sixth shell, seventh shell and first connecting rod, the third joint motor passes through the bolt to be connected with the sixth shell, the output of third joint motor is connected with the third joint shaft coupling, the third joint shaft coupling other end is connected with the third joint input shaft, the third joint input shaft is connected with the input of third joint reduction gear, be connected with the screw that is used for restricting third joint reduction gear axial radial displacement between third joint reduction gear and the third joint input shaft, third joint reduction gear is connected with sixth shell and seventh shell through the screw, the fifth shell is connected with the sixth shell through the screw, the other end of third joint reduction gear is connected with the third joint output shaft, the third joint output shaft is connected with the first connecting rod through the screw, the eighth connecting rod is connected with the eighth connecting rod.
Further, the fourth joint comprises fourth joint motor, fourth joint shaft coupling, fourth joint reduction gear, fourth joint output shaft, fourth joint input shaft, eighth shell and second connecting rod, fourth joint motor passes through the bolt and is connected with seventh shell, the output of fourth joint motor is connected with fourth joint shaft coupling, the fourth joint shaft coupling other end is connected with fourth joint input shaft, fourth joint input shaft is connected with the input of fourth joint reduction gear, be connected with the screw that is used for restricting fourth joint reduction gear axial radial displacement between fourth joint reduction gear and the fourth joint input shaft, fourth joint reduction gear is connected with seventh shell and first connecting rod through the screw, the other end of fourth joint reduction gear is connected with fourth joint output shaft, fourth joint output shaft is connected with the second connecting rod through the screw, the second connecting rod is connected with fifth joint fixed axle.
Further, the fifth joint comprises a fifth joint motor, a fifth joint coupler, a fifth joint speed reducer, a fifth joint output shaft, a ninth shell, a tenth shell and a fifth joint fixing shaft, wherein the fifth joint motor is connected with the ninth shell through bolts, 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 speed reducer, a screw used for limiting axial radial displacement of the fifth joint speed reducer is connected between the fifth joint speed reducer and the fifth joint input shaft, the fifth joint speed reducer is connected with the ninth shell and the tenth shell through screws, and the other end of the fifth joint speed reducer is connected with the fifth joint fixing shaft.
Further, the base lifting platform comprises a lifting platform, a transmission screw rod, a screw rod shaft sleeve, bevel gear transmission, a coupler, a bearing, a supporting bottom plate, a supporting plate, medical casters, an expansion joint 1, an expansion joint 2 and an expansion joint 3. The lifting platform is provided with bolt holes and is connected with the bolt holes on the telescopic joint 1, the lifting platform is also provided with sliding grooves, the sliding grooves are connected with the supporting frame through bolts, and the supporting frame is connected with the first joint through bolts, so that the whole shoulder rehabilitation exoskeleton robot is fixed on the lifting platform; the telescopic joint comprises a telescopic joint body, a screw shaft sleeve, a sliding way, a boss and a boss, wherein the sliding ways are arranged on two sides of the telescopic joint body 1 and are used for limiting displacement of the telescopic joint body 1, the sliding ways of the telescopic joint body 1 are matched with the sliding grooves of the telescopic joint body 2, a hole channel matched with the screw shaft sleeve is formed in the telescopic joint body, the hole channel of the telescopic joint body 1 is connected with the screw shaft sleeve through a bolt, the screw shaft sleeve is connected with the screw shaft through threads so as to transmit power, and the boss is arranged at the bottom of the telescopic joint body 1 and is used for limiting excessive extension of the telescopic joint body 1; the telescopic joint is characterized in that slide ways are arranged on two sides of the telescopic joint 2, positioning holes are formed in two side faces of the telescopic joint 2 with the slide ways, bolts are arranged in 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, the bosses at the top are used for limiting the telescopic joint 1 to extend out completely, the 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 bottom plate and a supporting plate through bolts, and the supporting plate is connected with medical casters through bolts.
The utility model discloses a telescopic joint, including telescopic joint 1, big bevel gear, bearing shaft, shaft coupling, drive shaft, bearing shaft sleeve, shaft coupling, big bevel gear, bearing shaft sleeve, drive shaft, big bevel gear, bearing shaft sleeve and telescopic joint 3 are connected through the bolt, the shaft coupling other end is connected with the drive shaft, the drive shaft is gone deep into to big bevel gear, big bevel gear is connected with the thrust bearing that supports in the floor hole, big bevel gear is connected with little bevel gear, little bevel gear is provided with the bearing that is used for supporting, the bearing that supports is connected with the bearing shaft sleeve, the bearing shaft sleeve is connected through the bolt with telescopic joint 3, little bevel gear is located telescopic joint 3's lateral wall, thereby little bevel gear is provided with the keyway for thereby connecting the hand wheel transmission power.
The beneficial effects of the invention are as follows:
1. the designed two-degree-of-freedom shoulder strap mechanism comprises two revolute joints, and the second revolute joint comprises a parallelogram mechanism. The parallelogram mechanism is a screw mechanism with adjustable length, can adapt to patients with different shoulder widths, and can also solve the problems that the rotation center of the scapular belt is offset and the track radius is shortened and is different due to the body shape and the shoulder flexibility of the patients. In the motion, the projection length of the two moving edges of the parallelogram in the coronal plane is always kept consistent with the projection length of the collarbone in the coronal plane, 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 through the rotation of the first joint and the length compensation of the second joint, so that the problem that the patient and the shoulder rehabilitation exoskeleton mechanism are not coordinated in motion is solved.
2. The designed shoulder rehabilitation exoskeleton robot consists of a two-degree-of-freedom shoulder blade belt mechanism and a three-degree-of-freedom spherical hinge mechanism, wherein the shoulder blade belt mechanism can drive a shoulder to realize forward-stretching backward-stretching and upward-descending movement, the spherical hinge mechanism can drive the shoulder to realize inward-stretching outward-stretching, inward-rotating outward-rotating and buckling stretching movement, and the three-degree-of-freedom spherical hinge mechanism intersects at one point. In the aspect of freedom degree configuration, the five active joints correspond to the basic movements of the five shoulders, so that the basic requirements of the shoulder movements of a patient can be met, the shoulder movement rehabilitation training effect is ensured, and meanwhile, the comfort of the patient is improved.
3. The designed shoulder rehabilitation exoskeleton robot is positioned on the back of a human body, is bound with the upper arm of the human body, and can perform rehabilitation training by sitting on a common seat, so that wearing convenience is improved, the designed lifting platform can be suitable for people with different sitting heights, and 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 of leaning forward and incapable of autonomous movement, the shoulder rehabilitation exoskeleton robot can drive the limbs of the traction patient to finish the action of a preset track, so that the patient is helped to perform a high-strength limb guidance task early; when the patient is in the middle and late biased stage, the shoulder rehabilitation exoskeleton robot can follow the arm movement of the patient; when the patient is in the later biased stage, shoulder muscle training with certain strength is needed, and the shoulder rehabilitation exoskeleton robot can be in an impedance mode to exercise shoulder strength cooperatively with the patient; in addition, in the teaching training mode, the shoulder rehabilitation exoskeleton robot should be capable of reproducing the motion trail of the teaching person. Thus, the system can help the patient 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 structural view of a base;
FIG. 3 is a schematic diagram of a five degree-of-freedom shoulder rehabilitation exoskeleton robot;
FIG. 4 is a schematic view of a three degree of freedom ball-and-socket hinge mechanism;
FIG. 5 is a schematic diagram of a parallelogram mechanism;
FIG. 6 is a schematic view of a first joint;
FIG. 7 is a schematic illustration of the internal structural components of the first joint with the housing removed;
FIG. 8 is a schematic view of a second joint;
FIG. 9 is a schematic view showing the internal structure of the connection part of the screw and the housing;
FIG. 10 is a schematic view of the interior of the second joint with the shell removed;
FIG. 11 is a screw block diagram;
FIG. 12 is a schematic view of a third joint;
FIG. 13 is a view showing the construction of the interior of the screw and the third joint housing connection;
FIG. 14 is a schematic view of the third joint with the housing removed and the internal components;
FIG. 15 is a schematic view of a fourth joint;
FIG. 16 is a schematic view of the interior of the fourth joint with the shell removed;
FIG. 17 is a schematic view of a fifth joint appearance;
FIG. 18 is a schematic view of the interior of the fifth joint with the outer shell removed;
fig. 19 is a schematic view of a fourth-fifth articulation link.
In the figure, 1-first joint, 2-second joint, 3-third joint, 4-fourth joint, 5-fifth joint, 6-base, 7-connecting rod, 001-supporting frame, 002-elevating platform, 003-telescopic joint 1, 004-telescopic joint 2, 005-screw shaft sleeve, 006-screw, 007-coupling, 008-supporting bottom plate, 009-supporting plate, 010-large bevel gear, 011-thrust bearing, 012-transmission shaft, 013-medical castor, 014-bearing end cover, 015-hand wheel, 016-bearing shaft sleeve, 017-deep groove ball bearing, 018-small bevel gear, 019-telescopic joint 3, 001-deep groove ball bearing, 102-first joint fixing shaft, 103-first joint speed reducer, 104-bearing, 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 housing 205, 204-second joint housing 206-second joint housing, 204-second joint housing, rotation shaft sleeve, 019-first joint housing, 105-first joint input shaft, 105-first joint housing, 105-first joint motor, 107-first joint housing, thrust shaft sleeve, 206-first joint input shaft, thrust shaft sleeve, 206-second joint housing, thrust shaft sleeve, 206-first joint input shaft, thrust shaft, 206-first joint input shaft, and 208-joint input shaft, thrust shaft, and 206-first joint input shaft, and thrust shaft, and 206-joint input shaft, and thrust shaft, and roll-joint input shaft and, and the joint are adjusted, 303-third joint motors, 304-third joint housings 3, 305-third joint output shafts, 306-third joint reducers, 307-third joint input shafts, 308-third joint couplings, 309-third joint motors, 310-thrust bearings, 311-thrust rotating shafts, 312-thrust bearings, 313-adjusting shims, 314-thrust bearing end caps, 401-fourth joint motors, 402-fourth joint couplings, 403-fourth joint input shafts, 404-fourth joint reducers, 405-fourth joint output shafts, 406-fourth joint housings 1, 407-fourth joint housings 2, 501-fifth joint motors, 502-fifth joint couplings, 503-fifth joint input shafts, 504-fifth joint reducers; 505-fifth joint output shaft; 506-fifth joint housing 1, 507-fifth joint housing 2, 508-end effector.
Detailed Description
The patent of the invention is further described below with reference to the accompanying drawings and examples.
A shoulder rehabilitation exoskeleton robot comprises a five-degree-of-freedom shoulder rehabilitation exoskeleton robot (figure three) 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 blade belt mechanism; the shoulder blade belt 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 view of a base, wherein the lifting of the lifting platform 002 is realized by bevel gear transmission and screw transmission; the rotation of the small bevel gears 010 and the large bevel gears 018 is driven by the hand wheel 015, and the rotation direction of the small bevel gears 010 and the large bevel gears 018 is controlled by the direction of the rotation of the hand wheel 015, so that the vertical linear motion of the screw rod 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-coupling, a 008-supporting bottom plate, a 009-supporting plate, a 010-large bevel gear, a 011-thrust bearing, a 012-transmission shaft, a 013-medical castor, 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; four bolt holes are formed in the lifting platform 002 and are matched with the bolt holes in the telescopic joints 1-003, the movement of the lifting platform 002 follows the up-and-down movement of the telescopic joints 1, a sliding groove is formed in the lifting platform 002, and the lifting platform 002 is fixed with the supporting frame 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 in the two sides of the telescopic joint, sliding ways are arranged and used for limiting the displacement of the telescopic joint 1-003, meanwhile, a pore canal matched with a screw rod shaft sleeve 005 is formed in the telescopic joint, reinforcing ribs are arranged on the pore canal and the four sides, the situation that the matching of the screw rod shaft sleeve 005 and the screw rod 006 and the deformation of the screw rod 006 are influenced due to the change of the posture position of a shoulder rehabilitation exoskeleton robot are prevented, the sliding ways of the telescopic joint 1-003 are matched with sliding grooves of the telescopic joint 2-004, the pore canal of the telescopic joint 1-003 is connected with the screw rod shaft sleeve 005 through bolts, the screw rod shaft sleeve 005 is matched with the screw rod 006 through threads to transmit power, bosses are arranged on the periphery of the bottom of the telescopic joint 1-003, and excessive extension of the telescopic joint 1-003 is limited; the two sides of the expansion joint 2-004 are also provided with slide ways which are matched with the slide grooves of the expansion joint 3-019, the top and the bottom of the slide ways are respectively provided with a boss, the expansion joint 1-003 is limited by the top boss to extend completely, the expansion joint 2-004 is limited by the bottom boss to extend completely, in addition, the two sides of the expansion joint 2-004 with the slide ways are provided with positioning holes, and positioning bolts are arranged inside the positioning holes. The telescopic joint 3 is connected with the supporting bottom plate 008 and the supporting plate 009 through bolts, four positioning bolts are arranged on the inner wall of the telescopic joint 3-019, and the supporting plate is connected with the medical castor 013 through bolts; one end of the lead screw 006 is positioned in the pore canal of the telescopic joint 1-003, the other end is connected with the coupler 007, one end of the coupler 007 is connected with the transmission shaft 012, and the transmission shaft 012 and the lead screw 006 are connected by the coupler 007. The transmission shaft 012 goes deep into the large bevel gear 010, and the large bevel gear 010 is placed on the thrust bearing 011 in the supporting baseplate hole; reinforcing ribs are arranged around the holes of the supporting bottom plate, and are through holes, so that the thrust bearing 011 can be conveniently detached; 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, the bearing is placed in a bearing sleeve 016, the bearing sleeve 016 is connected on the telescopic joint 3-019 by bolts, and a bearing end cover 014 is connected on the bearing sleeve 016 by bolts for limiting the axial displacement of the small bevel gear 018; the bevel pinion 018 is provided with a key slot for coupling with the hand wheel 015 for transmitting power torque.
The shoulder rehabilitation exoskeleton robot is composed of a left arm and a right arm which are mirror symmetry, so that only one shoulder mechanism is analyzed.
The shoulder rehabilitation exoskeleton robot is composed of five joints, as shown in fig. 3. The first joint and the second joint form a shoulder blade belt mechanism, as shown in fig. 5, a screw rod and the second joint, the third joint form four sides of a parallelogram, the four sides are respectively positioned at opposite sides, the total length of the second joint and the third joint shell is kept unchanged, so that the lengths of L1 and L3 are unchanged, the parallelogram mechanism only changes the lengths of L2 and L4 (namely the distance between the second joint and the third joint) and the angles of all sides, a threaded hole is formed in a thrust rotating shaft sleeve, an output shaft 207 and the thrust rotating shaft sleeve 210 are matched through screws, the thrust rotating shaft sleeve 210 is matched with the screw rod 211, the screw rod is respectively matched with the internal threads of the thrust sleeve and an adjusting rotating shaft, the screw rod rotation directions at two ends are different, and when the second joint motor 201 outputs torque to drive the second joint output shaft 207 to rotate, thereby driving the thrust rotating shaft sleeve 210 to rotate, and change the angle is realized; when the adjusting shaft 209 rotates to one side, the screws on two sides can be simultaneously adjusted to extend or retract, and as the thrust shaft sleeve 210 is also in threaded fit with the screws, the screws can drive the two sides of the thrust shaft sleeve to move in the moving process, so that the function of adjusting the distance between the second joint and the third joint is achieved, and the requirements of people with different shoulder widths are met.
The third joint, the fourth joint and the fifth joint form a spherical hinge mechanism, the axes of the spherical hinge mechanism meet at a point O, each joint realizes respective movement, and the speed and the angle are transmitted to an end effector to realize the function of an end arm, as shown in fig. 4, the third joint output shaft 305 is connected to a shell 407 of the fourth joint through bolts, the fourth joint output shaft and the fifth joint output shaft are also connected with a connecting rod 7 by adopting the same method, the power is transmitted to the connecting rod by the fourth joint output shaft 405, the connecting rod drives the fifth joint to move, and the fifth joint takes the connecting rod as a frame to rotate around the axis, so that the rotation of the binding belt mechanism is completed.
The following describes the joints in detail
The first joint (see fig. 6 and 7) mainly comprises a first joint motor 106, a first joint coupling 105, a first joint input shaft 108, a first joint speed reducer 103, 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, the first joint motor output shaft 108 is connected with the first joint coupling 105, the first joint coupling 105 is connected with the first joint input shaft 108, the first joint input shaft 108 is matched with an inner hole of an input end of the first joint speed reducer, the axial radial displacement of the first joint speed reducer input shaft is limited by fastening bolts, and the first joint speed reducer is fixedly connected with the first joint shells 1-107 and the first joint shells 2-109 through stud bolts.
The second joint (see fig. 8, 9, 10 and 11) mainly comprises a second joint motor 201, a second joint coupler 204, a second joint input shaft 205, a second joint output shaft 207, a second joint speed reducer 206, second joint shells 1-202, second joint shells 2-203 and a thrust rotating shaft 213, wherein the second joint motor 201 is fixedly connected with the second joint shell 202 through three positioning bolts, the second joint motor output shaft 205 is connected with an inner hole of the second joint coupler 204, the other end of the second joint coupler 204 is connected with the second joint input shaft 205, and the second joint input shaft 205 is matched with an inner hole of the second joint speed reducer input end for transmitting power; the second joint reducer 206 is fixed with the second joint housing 202 through a stud, the output end of the second joint reducer is fixedly connected with the 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 using bolts and nuts, the second joint housing 2-203 is fixed on the second joint housing 1-202, and therefore the frame side of the parallelogram mechanism and the second joint are kept in a relatively 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, a threaded hole is arranged along the axis direction, the thrust shaft sleeve 210 is matched with the spline on the output shaft 207, the thrust shaft sleeve 210 is fixed with the output shaft 207 through a bolt, and the thrust shaft sleeve 210 is prevented from being separated from the output shaft 207 in the moving process; similarly, the thrust rotating shafts on the opposite sides are also provided with splines and threaded holes and are matched with the thrust shaft sleeves, and in order to prevent the parallelogram from being severely worn during the rotation process of the thrust rotating shafts, thrust bearings (212 and 214) are arranged on two sides of the thrust rotating shafts and are arranged on the holes of the second joint shells 2-203. To prevent axial displacement of the thrust bearings (212, 214), the bearing end cap 217 is fixed by adding a spacer 215 and a bearing end cap 217, the bearing end cap 217 being fixedly connected to the second joint housing 2-203 by bolts.
The second joint comprises a parallelogram mechanism (see fig. 5), wherein the second joint shells 2-203 are used as frame edges, the frame edges are arranged on the third joint shell 301, two shell screws are connected, the screws are respectively connected with an adjusting rotating shaft in a matching way by a left-handed screw 208 and a right-handed screw 211, internal threads are arranged in a thrust shaft sleeve hole, and the screws are mutually matched with each other to form the parallelogram mechanism.
The third joint mainly comprises a third joint motor 303, a third joint coupler 308, a third joint reducer 306, a third joint housing 1-301, a third joint housing 2-302, a third joint housing 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 housing 2-302 through three positioning bolts, the output shaft 305 of the third joint motor is matched with an inner hole at one end of the third joint coupling 308, an inner hole at the other end of the third joint coupling 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 reducer 306 through fastening bolts, the third joint reducer 306 is fixed on the third joint housing 1-301, the output end of the reducer is connected with the third joint output shaft 305, the third joint output shaft 305 is connected with the fourth joint housing 2-407 through a threaded hole in the axial direction, the third joint housing 1-301 is connected with the third joint housing 2-302 through a positioning hole and a connecting hole through bolts, bearing holes are respectively arranged at the bottom ends of the two housings, a thrust bearing 310, a thrust rotating shaft 311, a thrust bearing 312, an adjusting gasket 313 and a bearing end cover 314 are respectively arranged in the holes, the bearing end cover is fixedly connected with the third joint housing 3-304 through bolts, the two housings (301 and 302) are fixedly connected together to form a rack 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 bolts, the fourth joint input shaft 403 is fixed in an inner hole at an input end of the fourth joint reducer 404 by fastening screws, the fourth joint reducer 404 is fixed on the fourth joint housings 2-407, the fourth joint reducer output end is connected with the fourth joint output shaft 405, and the fourth joint output shaft 405 is matched with the connecting rod 7 by a threaded hole in the axial direction
The fifth joint (see fig. 17, 18 and 19) is composed of a fifth joint motor 501, a fifth joint coupler 502, a fifth joint reducer 504, a fifth joint input shaft 503, a fifth joint output shaft 505, a fifth joint housing 1-506, a fifth joint housing 2-507 and an end effector 508, the fifth joint motor 501 is fixed on the fifth joint housing 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 coupler 502, the inner hole at the other end of the fifth joint coupler 502 is matched with the fifth joint input shaft 503, the fifth joint input shaft 503 is fixed in an inner hole at the input end of the fifth joint reducer 504 through a fastening screw by means of a bolt fastening, the fifth joint reducer 504 is fixed on the fifth joint housing 507, the fifth joint reducer output end is connected with the fifth joint output shaft 505, the fifth joint output shaft 505 is connected with the connecting rod 7 through a threaded hole in the axial direction, and the fifth joint housing 2-507 and the end effector 508 are connected through bolts.
Principle of operation
The manual adjusting hand wheel 015 transmits power to the large bevel gear 010 through the small bevel gear 018, the large bevel gear 010 is transmitted to the transmission shaft 012 through a key slot, the transmission shaft is connected with the coupler 007, the coupler 007 is connected with the lead screw 006, the lead screw 006 rotates, and the telescopic joint 1-003 and the telescopic joint 2-004 are driven to move up and down through the 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 boss at the bottom of the telescopic joint 1-003 contacts with the boss on the telescopic joint 2-004, the telescopic joint 2-004 is driven to lift, when the boss at the bottom of the telescopic joint 2-004 contacts with the telescopic joint 3-019, the lifting is stopped, at the moment, the telescopic joint is fully extended, and the height of the lifting platform 002 reaches the maximum value; the hand wheel 015 is reversely rotated, the expansion joint 1-003 starts to retract, when the boss at the bottom of the expansion joint 1-003 touches the positioning bolt on the interior of the expansion joint 2-004, the retraction movement of the expansion joint 2-004 is driven, when the boss at the bottom of the expansion joint 2-004 touches the positioning bolt of the expansion joint 3, the descent is stopped, at the moment, the expansion joint is completely retracted, and the height of the lifting platform 002 reaches the minimum value; the rising and falling range is 320mm, and the requirements of 99% of patients on sitting posture and shoulder height adjustment can be met. After the sitting position shoulder height of the patient is adjusted, the shoulder rehabilitation exoskeleton robot moves; the specific movement process is as follows: the output end of the first joint is fixed on the frame, and the whole machine is driven to rotate through the rotation of the first joint 1, so that the shoulder can ascend and descend; the second joint 2 adopts a parallelogram mechanism design, so that the stability of a connecting structure with the three-degree-of-freedom spherical hinge mechanism is enhanced. The edge parallel to the axis of the first joint in the second joint 2 is a frame edge and keeps relative static with the second joint, the opposite edge is fixed with the third joint shell, and when the second joint 2 rotates, two adjacent edges are driven to do circular arc motion in parallel by utilizing the characteristic of a parallelogram mechanism, so that the three-degree-of-freedom spherical hinge mechanism is driven to realize the forward extending and backward shrinking 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 inward-folding and outward-unfolding movement of the shoulder is 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 the external rotation of the shoulder; similarly, the fifth joint 5 is connected with the fourth joint 4 through a connecting rod 7, so as to realize the buckling and stretching movement of the shoulder.
Alterations, modifications, substitutions and variations of the embodiments herein will be apparent to those of ordinary skill in the art in light of the teachings of the present invention without departing from the spirit and principles of the invention.
Claims (6)
1. A shoulder rehabilitation exoskeleton robot, comprising:
the shoulder blade belt component comprises a first joint, the first joint is connected with a shell, a second joint is mounted 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 arranged on the third joint, one end of the output shaft is connected with a fourth joint, a second connecting rod is arranged on the fourth joint, and one end of the second connecting rod is connected with a fifth joint;
the base lifting platform is arranged below the first joint;
the second joint consists of a second joint motor, a second joint coupler, a second joint speed 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 the fourth shell through a bolt, the other end of the fourth shell is connected with the 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 speed reducer, a screw for limiting the axial and radial displacement of the second joint speed reducer is connected between the second joint speed 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;
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 point of the first connecting rod and the second connecting rod consists 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 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 connection point 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 point of the third connecting rod and the second connecting rod consists 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 connection point of the third thrust rotating shaft and the third thrust shaft sleeve is connected with the fourth thrust bearing, the third gasket and the third thrust bearing end cover; the intersection point of the third connecting rod and the fourth connecting rod consists 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 second thrust shaft sleeve is provided with an internal thread and is connected with the third screw rod through the internal thread, the second adjustment shaft sleeve 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 adjustment shaft sleeve 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 axis direction, and the positioning of the second joint output shaft 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 axis direction, and the positioning of the second thrust rotating shaft 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 is further limited through a screw; the fourth thrust rotating shaft is connected with the fourth thrust shaft sleeve through a spline, a threaded hole is formed in the axis direction, and the positioning of the fourth thrust rotating shaft is further limited through a screw.
2. The shoulder rehabilitation exoskeleton robot of 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 housing, a second housing and a third housing, the first joint motor is connected with the second housing through a bolt, a fixed 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 a first joint reducer, the first joint reducer is connected with the first housing and the second housing through screws, the second housing is connected with the third housing through screws, an output end of the first joint reducer is connected with the first joint output shaft, an interference fit for limiting axial displacement of the first joint reducer is connected between the first joint reducer and the first joint output shaft, and the first joint reducer is connected with the inner ring of the second bearing through screws.
3. The shoulder rehabilitation exoskeleton robot of claim 1, wherein the third joint is composed of a third joint motor, a third joint coupling, a third joint reducer, a third joint output shaft, a third joint input shaft, a fifth housing, a sixth housing, a seventh housing and a first link, the third joint motor is connected with the sixth housing through a bolt, an output end of the third joint motor is connected with the third joint coupling, the other end of the third joint coupling is connected with the third joint input shaft, the third joint input shaft is connected with an input end of a third joint reducer, 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 reducer is connected with the sixth housing through a screw, the fifth housing is connected with the sixth housing through a screw, the other end of the third joint reducer is connected with the third joint output shaft, and the eighth housing is connected with the eighth link through a screw.
4. The shoulder rehabilitation exoskeleton robot of claim 1, wherein the fourth joint is composed of a fourth joint motor, a fourth joint coupling, 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 coupling, the other end of the fourth joint coupling 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, the fourth joint reducer is connected with the seventh housing and the first connecting rod through the screw, the other end of the fourth joint reducer is connected with the fourth joint, the fourth joint output shaft is connected with the second output shaft through the screw, and the fifth connecting rod is connected with the fifth connecting rod.
5. The shoulder rehabilitation exoskeleton robot of claim 1, wherein 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 housing, a tenth housing and a fifth joint fixing shaft, the fifth joint motor is connected with the ninth housing through bolts, an output end of the fifth joint motor is connected with the fifth joint coupling, the other end of the fifth joint coupling is connected with the fifth joint input shaft, the fifth joint input shaft is connected with an input end of the fifth joint reducer, a screw for limiting axial and radial displacement of the fifth joint reducer is connected between the fifth joint reducer and the fifth joint input shaft, the fifth joint reducer is connected with the ninth housing and the tenth housing through the screw, and the other end of the fifth joint reducer is connected with the fifth joint fixing shaft.
6. The shoulder rehabilitation exoskeleton robot of claim 1, wherein the base lifting platform comprises a lifting platform, a drive screw, a screw shaft sleeve, a bevel gear drive, a coupling, a bearing, a support base plate, a support plate, medical casters, an expansion joint 1, an expansion joint 2, an expansion joint 3, and a support frame; the lifting platform is provided with bolt holes and is connected with the bolt holes on the telescopic joint 1, the lifting platform is also provided with sliding grooves, the sliding grooves are connected with the supporting frame through bolts, and the supporting frame is connected with the first joint through bolts, so that the whole shoulder rehabilitation exoskeleton robot is fixed on the lifting platform; the telescopic joint comprises a telescopic joint body, a screw shaft sleeve, a transmission screw, a boss and a sliding rail, wherein sliding rails are arranged on two sides of the telescopic joint body 1 and used for limiting displacement of the telescopic joint body 1, the sliding rails of the telescopic joint body 1 are matched with sliding grooves of the telescopic joint body 2, a hole channel matched with the screw shaft sleeve is formed in the telescopic joint body, the hole channel of the telescopic joint body 1 is connected with the screw shaft sleeve through a bolt, the screw shaft sleeve is connected with the transmission screw through threads so as to transmit power, and the boss is arranged at the bottom of the telescopic joint body 1 and used for limiting excessive extension of the telescopic joint body 1; the telescopic joint comprises a telescopic joint body, wherein two sides of the telescopic joint body 2 are provided with sliding ways, two side surfaces of the telescopic joint body 2 with the sliding ways are provided with positioning holes, bolts are arranged in the sliding ways of the telescopic joint body 2, the sliding ways of the telescopic joint body 2 are connected with sliding grooves of the telescopic joint body 3, bosses are arranged at the top and the bottom of the telescopic joint body 2, the bosses at the top are used for limiting the telescopic joint body 1 to extend completely, the bosses at the bottom are used for limiting the telescopic joint body 2 to extend completely, the telescopic joint body 3 is connected with a supporting bottom plate and a supporting plate through bolts, and the supporting plate is connected with medical casters through bolts;
The transmission lead screw one end is located telescopic joint 1's pore, and another one end is connected with the shaft coupling, the shaft coupling other end is connected with the transmission shaft, the transmission shaft is gone into to big bevel gear, big bevel gear is connected with the thrust bearing who supports in the floor hole, big bevel gear is connected with little bevel gear, little bevel gear is provided with the bearing that is used for supporting, the bearing that supports is connected with the bearing sleeve, the bearing sleeve is connected through the bolt with telescopic joint 3, little bevel gear is located telescopic joint 3's lateral wall, little bevel gear is provided with the keyway for thereby connecting the hand wheel transmission power.
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| CN111067761A (en) * | 2020-01-10 | 2020-04-28 | 燕山大学 | Generalized shoulder joint rehabilitation training device |
| 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 |
| CN106420257A (en) * | 2016-09-05 | 2017-02-22 | 南京航空航天大学 | Upper limb rehabilitation exoskeleton robot based on serial elastic drivers and method |
| CN111067761A (en) * | 2020-01-10 | 2020-04-28 | 燕山大学 | Generalized shoulder joint rehabilitation training device |
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