CN102499858B - Rehabilitation robot safe shoulder joint - Google Patents

Abstract

A safety shoulder joint of a rehabilitation robot comprises a big arm of the rehabilitation robot, and a motor arranged on a front panel. A sleeve is arranged on the big arm of the rehabilitation robot, a first spring damper, a second spring damper, a third spring damper and a fourth spring damper are arranged between the sleeve and the front panel, one end of each of the first spring damper, the second spring damper, the third spring damper and the fourth spring damper is respectively connected with the sleeve, the other end of each of the first spring damper, the second spring damper, the third spring damper and the fourth spring damper is connected with the front panel, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod are arranged between the front panel and the big arm of the rehabilitation robot and respectively adopt a link mechanism comprising a link, a first universal joint and a second universal joint are arranged at two ends of each link respectively, the first universal joint is connected with the big arm of the rehabilitation robot, and the second universal joint is connected with the front panel. The shoulder joint mechanism can synchronously move with a shoulder joint to be rehabilitated in rehabilitation training, and conforms to the properties of rehabilitation training so that rehabilitation training is more comfortable and safer.

Description

Rehabilitation robot safe shoulder joint

1. Technical field

The invention relates to an upper limb rehabilitation robot, in particular to a safety shoulder joint of the rehabilitation robot used for shoulder joint rehabilitation training.

2. Background technology

For patients with stroke sequelae, rehabilitation training for their hemiplegia is a critical and important medical method. Early rehabilitation training can significantly reduce the possibility of disability. In the traditional rehabilitation treatment in China, therapists usually carry out rehabilitation training for patients hand in hand, which is time-consuming and labor-intensive, and there is no quantitative rehabilitation evaluation standard. Therefore, it is of great application value and practical urgency to apply robot technology to the field of rehabilitation and develop a rehabilitation training robot that meets the needs of rehabilitation to improve the efficiency and effect of rehabilitation training.

Rehabilitation robot technology has been widely valued by robot researchers and medical institutions in my country. Many research institutions have carried out relevant research work and achieved some valuable results. Because the direct action target of the rehabilitation robot is the patient's affected limb, how to ensure both the high efficiency and the safety of the rehabilitation in the rehabilitation training is the focus of the research of the rehabilitation training robot.

At present, the mechanical structure of the shoulder joint of the upper limb rehabilitation training robot developed in China is mostly that the axis remains unchanged. However, clinical experiments have found that during rehabilitation training, the movement of the upper arm will drive a series of bone and muscle activities around the shoulder, such as the scapula and clavicle, thereby changing the axis of the shoulder joint. In this case, the use of rehabilitation training equipment with the same axis for rehabilitation training will cause joints to receive unnecessary restrictive force, and even cause problems such as muscle strain. Therefore, it is very urgent to develop a rehabilitation mechanism that can locally move with the axis of the shoulder joint during rehabilitation training.

3. Contents of the invention

The purpose of the present invention is to provide a safe shoulder joint of a rehabilitation robot, which can change the axis of the output shaft according to the movement of the shoulder joint when the patient performs rehabilitation exercises, so as to better follow the movement of the patient's arm , to realize training modes such as active training and passive training.

The present invention adopts following technical scheme:

A safety shoulder joint of a rehabilitation robot, comprising: a rehabilitation robot arm and a motor arranged on a front panel, a sleeve is arranged on the rehabilitation robot arm, and a first spring damper, The second spring damper, the third spring damper and the fourth spring damper, one end of the first spring damper, the second spring damper, the third spring damper and the fourth spring damper are respectively connected with the sleeve, the first spring damper The other ends of the first spring damper, the second spring damper, the third spring damper and the fourth spring damper are respectively connected to the front panel, and the first connecting rod and the second connecting rod are arranged between the front panel and the rehabilitation robot arm. Connecting rod, the 3rd connecting rod and the 4th connecting rod, the first connecting rod, the 2nd connecting rod, the 3rd connecting rod and the 4th connecting rod adopt connecting rod mechanism, described connecting rod mechanism comprises connecting rod, in connecting rod The first universal joint and the second universal joint are respectively provided at both ends of the robot, and the first universal joint is connected with the big arm of the rehabilitation robot, and the second universal joint is connected with the front panel.

The mechanical structure of the upper limb rehabilitation robot of the present invention has the following advantages:

1. When a patient uses a rehabilitation robot for upper limb rehabilitation training, when lifting the shoulder, especially when lifting the arm, the axis of the shoulder joint will change due to the movement of the bones or muscles around the shoulder, while the existing robot The axis in the joint design of the robot is immutable. When the axis of the robot deviates from the axis of the shoulder joint, it will involve the rehabilitation of the affected limb, causing pain and even straining the affected limb. In the present invention, four parallel link mechanisms are used to make the motor axis move on the vertical plane YOZ. This design can make the motor axis cooperate with the movement of the shoulder joint axis, and fit the shoulder joint more closely, so that the patient's The body feels more comfortable.

2. At the same time, the structure of four parallel connecting rods ensures that the connecting surface of the motor will not have an inclination angle with the vertical plane, which will not cause lateral pressure on the sick limb and ensure the safety during rehabilitation training.

3. Four spring dampers are used to fix the motor on the main arm of the robot. The addition of springs can not only ensure the automatic reset of the system, but also overcome the influence of gravity, and the addition of dampers can absorb excess energy , to overcome the influence of vibration, making the exercise process more stable and soothing.

4. Description of drawings

Fig. 1 is a structural diagram of the safety joint of the rehabilitation robot of the present invention, in which, the axial direction of the output shaft of the motor is taken as the OX direction.

Fig. 2 is A-A partial sectional view of the safety joint of the rehabilitation robot of the present invention.

Fig. 3 is a front view of the safety joint of the rehabilitation robot of the present invention.

Fig. 4 is a structural diagram of the connecting rod structure in the present invention.

Fig. 5 is a schematic diagram (without sleeve) of the safety joint of the rehabilitation robot of the present invention.

5. Specific implementation plan

The structure of the four-degree-of-freedom upper and lower limb rehabilitation training robot of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

A safety shoulder joint of a rehabilitation robot, comprising: a rehabilitation robot arm 1 and a motor 9 arranged on a front panel 3, a sleeve 2 is arranged on the rehabilitation robot arm 1, and a sleeve 2 is arranged between the sleeve 2 and the front panel 3 There are a first spring damper 5, a second spring damper 6, a third spring damper 7 and a fourth spring damper 8, the first spring damper 5, the second spring damper 6, the third spring damper 7 and One end of the fourth spring damper 8 is respectively connected with the sleeve 2, and the other ends of the first spring damper 5, the second spring damper 6, the third spring damper 7 and the fourth spring damper 8 are connected with the front panel 3 respectively. connection, a first connecting rod 10, a second connecting rod 11, a third connecting rod 12 and a fourth connecting rod 13 are arranged between the front panel 3 and the big arm 1 of the rehabilitation robot, the first connecting rod 10, the second connecting rod 11. The third connecting rod 12 and the fourth connecting rod 13 adopt a connecting rod mechanism, and the described connecting rod mechanism includes a connecting rod 131, and a first universal joint 132 and a second universal joint 132 are respectively arranged at both ends of the connecting rod 131. joint 133, and the first universal joint 132 is connected with the arm 1 of the rehabilitation robot, and the second universal joint 133 is connected with the front panel 3.

How the whole system works is described in detail below:

The motor 9 is coaxially connected with the front panel 3, and the front panel 3 is respectively connected with the first connecting rod 10, the second connecting rod 11, the third connecting rod 12 and the fourth connecting rod 13 in the four directions of up, down, left and right, four etc. The rear ends of the long first connecting rod 10 , the second connecting rod 11 , the third connecting rod 12 and the fourth connecting rod 13 are respectively connected with the big arm 1 of the rehabilitation robot. At the same time, the large arm 1 of the rehabilitation robot is closely connected with the rear end of the sleeve 2, and the front end of the sleeve 2 is respectively connected by the first spring damper 5, the second spring damper 6, and the third spring damper 7 in the four directions of up, down, left, and right. And the fourth spring damper 8 is connected with the front panel. The motor output shaft 4 can be connected with a rehabilitation machine component (such as a rehabilitation robot arm).

The following briefly introduces the working principle of this system.

The motor output shaft 4 can be connected to rehabilitation components (such as a rehabilitation robot arm) for rehabilitation of the affected limb, because the patient will drive the skeletal muscles around the shoulder joint to move due to the movement of the shoulder joint during rehabilitation training, thereby changing the axis of the shoulder joint Heart. At this time, the planes fixed by the four parallel connecting rods will move together with the shoulder joint to an appropriate range, so as to better exercise the joints without strain.

Claims (1)

1. A rehabilitation robot safety shoulder joint, comprising: rehabilitation robot big arm (1) and the motor (9) that is located on the front panel (3), is characterized in that, is provided with cover on the rehabilitation robot big arm (1) barrel (2), between the sleeve (2) and the front panel (3) are provided with a first spring damper (5), a second spring damper (6), a third spring damper (7) and a fourth The spring damper (8), one end of the first spring damper (5), the second spring damper (6), the third spring damper (7) and the fourth spring damper (8) are respectively connected with the sleeve (2 ) connection, the other ends of the first spring damper (5), the second spring damper (6), the third spring damper (7) and the fourth spring damper (8) are respectively connected to the front panel (3), A first connecting rod (10), a second connecting rod (11), a third connecting rod (12) and a fourth connecting rod (13) are arranged between the front panel (3) and the rehabilitation robot arm (1), The first connecting rod (10), the second connecting rod (11), the third connecting rod (12) and the fourth connecting rod (13) adopt a connecting rod mechanism, and the described connecting rod mechanism comprises a connecting rod (131). The two ends of the connecting rod (131) are respectively provided with a first universal joint (132) and a second universal joint (133), and the first universal joint (132) is connected with the rehabilitation robot arm (1), and the second The universal joint (133) is connected with the front panel (3).

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