CN120616985A - Upper limb robot for shoulder rehabilitation training - Google Patents
Upper limb robot for shoulder rehabilitation trainingInfo
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- CN120616985A CN120616985A CN202510822960.4A CN202510822960A CN120616985A CN 120616985 A CN120616985 A CN 120616985A CN 202510822960 A CN202510822960 A CN 202510822960A CN 120616985 A CN120616985 A CN 120616985A
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- sliding
- limiting
- plate
- bowden cable
- mounting
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Abstract
本发明涉及一种用于肩部康复训练的上肢机器人，具有穿戴组件、可调节支撑杆、关节机构、臂部连接件以及驱动运动装置；关节机构包括安装架、转盘以及连接臂，转盘转动设置在安装架上，连接臂的一端与转盘固定连接，连接臂的另一端与臂部连接件连接，驱动运动装置包括滑动支架、运动部件以及用于运动部件在滑动支架上进行滑动的驱动装置，运动部件通过驱动装置的驱动形成上下滑动；还设有连接运动部件和关节机构的第一鲍登线缆和第二鲍登线缆；当运动部件滑动时，运动部件带动与滑动方向相反的第一鲍登线缆或第二鲍登线缆带转盘上的连接臂进行旋转；本发明能够为患者提供精准、稳定的肩部支撑，并根据康复需求调整训练模式。
The present invention relates to an upper limb robot for shoulder rehabilitation training, which comprises a wearable component, an adjustable support rod, a joint mechanism, an arm connector and a driving motion device; the joint mechanism comprises a mounting frame, a turntable and a connecting arm, the turntable is rotatably arranged on the mounting frame, one end of the connecting arm is fixedly connected to the turntable, and the other end of the connecting arm is connected to the arm connector, the driving motion device comprises a sliding bracket, a moving part and a driving device for the moving part to slide on the sliding bracket, and the moving part slides up and down through the drive of the driving device; a first Bowden cable and a second Bowden cable are further provided to connect the moving part and the joint mechanism; when the moving part slides, the moving part drives the first Bowden cable or the second Bowden cable in the opposite sliding direction to rotate with the connecting arm on the turntable; the present invention can provide patients with accurate and stable shoulder support and adjust the training mode according to rehabilitation needs.
Description
Technical Field
The invention relates to the technical field of rehabilitation medical equipment, in particular to an upper limb robot for shoulder rehabilitation training.
Background
Rehabilitation training of the upper limbs is special training for helping patients recover the movement ability of the upper limbs due to brain itching, and is helpful for the patients to recover self-care ability. Traditional rehabilitation training often needs to be performed one-to-one and face-to-face with a rehabilitation specialist. The whole rehabilitation training process is highly dependent on rehabilitation specialists. The scarcity of rehabilitation specialists is one of the problems which cannot be solved in a short time in the rehabilitation field in China at present.
After a shoulder injury or surgery, the patient needs to perform systematic rehabilitation training to restore the mobility and muscle strength of the shoulder joint. At present, rehabilitation training is mostly dependent on a physical therapist to manually assist or simply use a mechanical device, and the method is time-consuming and labor-consuming, and can cause unstable training effect due to artificial factors. The existing upper limb rehabilitation equipment often cannot realize accurate support and active training of the shoulder, and the rehabilitation requirement of the complex movement of the shoulder joint is difficult to meet.
Therefore, there is a need for an upper limb robot that can effectively assist shoulder rehabilitation training and can be individually adjusted according to the condition of the patient to improve rehabilitation effect and efficiency.
Disclosure of Invention
The invention aims to provide an upper limb robot for shoulder rehabilitation training, which can provide accurate and stable shoulder support for a patient and adjust a training mode according to rehabilitation requirements.
The adjustable support rod comprises a sliding support, a moving part and a driving device used for sliding the moving part on the sliding support, the sliding direction of the moving part is consistent with the extending direction of the adjustable support rod, the moving part is driven by the driving device to form up-down sliding, a first bowden cable and a second bowden cable are further arranged, one end of the first bowden cable is fixedly arranged on one side of the moving part, the other end of the second bowden cable extends towards the arm connecting piece, the second bowden cable is fixedly arranged on the other side of the moving part, the other end of the second bowden cable extends back towards the arm connecting piece, the sliding support is rotatably provided with a driving device used for changing the extending direction of the other end of the second bowden cable, the first bowden cable is used as an interactive guide wheel on the sliding support, the first bowden cable is used for interacting with an interactive input unit and an interactive output unit, and the second bowden cable is used for interacting with an interactive input unit and an output unit, and an interactive unit is arranged on the other end of the interactive unit is used for controlling the interactive unit.
Further, the joint mechanism is further provided with a second shell, a rotating support disc, a limiting gear, a limiting plate, a first mounting block and a second mounting block, wherein the mounting frame, the rotating disc, the rotating support disc, the limiting gear, the limiting plate, the first mounting block and the second mounting block are all arranged in the second shell, and the first mounting block and the second mounting block are all fixedly arranged on the mounting frame; the rotary support disc is fixedly provided with a rotary shaft on two sides, a rotary disc and a first mounting block are arranged on one side of the rotary support disc, a limiting gear and a second mounting block are arranged on the other side of the rotary support disc, rotary holes which can be matched with the rotary shaft through the forming are formed in the rotary disc, the rotary disc is pressed on the rotary support disc through the matching of the rotary holes on the rotary disc and the rotary disc is fixedly connected with the rotary support disc, the first mounting block is rotatably arranged on the rotary shaft on the corresponding side of the rotary support disc through the rotary holes on the first mounting block, the limiting gear is rotatably arranged on the rotary shaft on the corresponding side of the rotary support disc through the rotary holes on the limiting gear, the first mounting block is rotatably arranged on the rotary shaft on the corresponding side of the rotary support disc through the rotary holes on the first mounting block, the rotary disc is positioned between the rotary support disc and the first mounting block, the limiting gear is positioned between the rotary support disc and the second mounting block, the rotary disc, the rotary support disc and the limiting gear are concentrically arranged, lifting holes are fixedly arranged on the lifting mounting frame, the lifting mounting frame is provided with limiting rods which can be matched with the limiting rods which can form a plurality of circular origins and are uniformly distributed on the periphery of the lifting frame through the limiting frame, a limiting groove is formed between two adjacent protruding blocks, a limiting block which can be in plug-in fit with the limiting groove is fixedly arranged on the limiting plate, a reset spring is fixedly arranged in the lifting hole, one end of the reset spring acts on the bottom of the lifting hole, the other end of the reset spring acts on the fixed rod, the limiting plate always moves towards the limiting gear under the action of the reset spring, and the limiting block is in plug-in fit with the limiting groove under the action of the movement of the limiting plate;
The second mounting plate is also provided with a sliding through groove which is arranged along the lifting direction of the limiting plate in an extending way, and is also provided with a bolt one end of which is fixedly arranged on the limiting plate and the other end of which extends through the sliding through groove, the bolt is arranged in the sliding through groove in a sliding way, the limiting plate forms passive descent through the sliding fit of the bolt and the sliding through groove, and the limiting plate forms active ascent through the action of a spring and the sliding fit of the guide block and the guiding groove;
the limiting gear is fixedly provided with an extension arm which extends outwards by taking the center of the limiting gear as the center, the connecting arm is fixedly provided with a limiting rod, and the limiting rod can form limiting fit with the extension arm.
Further, the outer wall of the rotary supporting disc is provided with a guide groove extending along the direction of the outer contour of the rotary supporting disc, the first bowden cable and the second bowden cable are clamped in the guide groove, a steering wheel used for guiding the second bowden cable to be connected with the rotary supporting disc after steering is further rotationally arranged between the first mounting block and the second mounting block, the first bowden cable is clockwise wound on the rotary supporting disc along the extending direction of the guide groove, and the second bowden cable is anticlockwise wound on the rotary supporting disc after steering through the steering wheel.
Further, the portable wearing device is also provided with a first shell fixedly arranged on the wearing assembly, wherein the moving part comprises a first sliding plate, a second sliding plate, a third sliding plate, a screw nut, a first elastic piece and a second elastic piece;
The guide rod is provided with a plurality of guide rods which are fixedly arranged between the first mounting plate and the second mounting plate and extend along the extending direction of the guide rod, the driving device is fixedly arranged on the second mounting plate, the output end of the driving device is fixedly connected with the guide rod, and the guide wheel is rotatably arranged on the second mounting plate;
The screw rod nut is arranged on the screw rod and can be in threaded fit with the screw rod, guide holes which are in one-to-one correspondence with all guide rods and can be in sliding fit are formed in the first sliding plate, the second sliding plate and the third sliding plate are sequentially arranged through the guide holes in sliding fit with the guide rods, the first sliding plate and the third sliding plate are fixedly connected with each other, the first sliding plate is positioned on one side of the second sliding plate, which faces the first mounting plate, the third sliding plate is positioned on one side of the second sliding plate, which faces the second mounting plate;
The first mounting plate is provided with a first through hole and a second through hole which are respectively used for the first bowden cable and the second bowden cable to pass through, one end of the first bowden cable is fixedly arranged on the first sliding plate, the other end of the first bowden cable penetrates through the first through hole and then is fixedly connected with the rotary table, one end of the second bowden cable is fixedly arranged on the third sliding plate, and the other end of the second bowden cable bypasses the guide wheel and then is fixedly connected with the rotary table after passing through the second through hole.
Further, a position sensor for detecting the sliding offset of the sliding block is further arranged in the first shell, and the position sensor is electrically connected with the control unit.
Further, the intelligent robot is also provided with a sensing and control system, the sensing and control system comprises a first inertial measurement unit capable of being installed at a large arm, a second inertial measurement unit capable of being installed at a small arm and a third inertial measurement unit capable of being installed at a trunk, the first inertial measurement unit, the second inertial measurement unit and the third inertial measurement unit are combined to monitor a motion state and a motion gesture, and the first inertial measurement unit, the second inertial measurement unit and the third inertial measurement unit are electrically connected with the control unit.
Further, the wearing assembly comprises a shoulder belt used for being carried by a user and a waist belt used for wrapping the waist of the user, two waist belts are arranged, one ends of the two waist belts are respectively and fixedly arranged on two sides of the lower end of the shoulder belt, the other ends of the two waist belts can be in mutual insertion fit through connectors, clamping boxes are arranged on the two waist belts, clamping grooves are formed in the clamping boxes, connecting blocks are fixedly arranged at one ends of the adjustable support rods, which are detachably fixed to the wearing assembly, of the adjustable support rods, clamping blocks capable of being in clamping fit with the clamping grooves are fixedly arranged on the connecting blocks, the adjustable support rods are detachably fixed to the wearing assembly through the clamping fit of the clamping blocks and the clamping grooves, and the clamping boxes are slidably arranged on the waist belt.
Further, the adjustable support rod comprises a first rod body and a second rod body, a sliding groove which can be used for the first rod body to be inserted into and form sliding is formed in the second rod body, the first rod body is in sliding connection with the second rod body through the sliding groove, and a limiting piece used for limiting the first rod body and the second rod body to form sliding is arranged on the first rod body.
The arm connecting piece is arranged on one side of the connecting arm in an adjustable mode, a sliding groove which is extended and combined along the extending direction of the connecting wall is formed in the other side of the connecting arm, locating grooves which are extended and arranged evenly along the extending direction of the sliding groove are formed in the other side of the connecting arm, the adjusting piece comprises a mounting seat and a clamping seat, the mounting seat is arranged on one side of the connecting arm, the arm connecting piece is provided with the arm connecting piece, the clamping seat is arranged on the other side of the connecting arm, a locating block which can be in locating fit with the locating groove is arranged on the clamping seat, a locating bolt is further arranged on the arm connecting piece, the mounting seat and the clamping seat correspondingly penetrate through a locating hole through which a threaded portion of the locating bolt can pass, a limiting hole which is arranged corresponding to the locating hole and can be used for limiting the locating bolt is formed in the other side, a knob which can be in threaded fit with the threaded portion of the locating bolt is also arranged on the connecting arm through the threaded portion of the locating bolt and the locating bolt in a locating fit mode.
Further, the device is also provided with a handheld remote controller which is electrically connected with the control unit and used for controlling the output size of the driving device, controlling the input unit to select a training mode and feeding back the interactive information output by the interactive output unit, wherein the handheld remote controller is electrically connected with the control unit, the input unit and the interactive output unit, and an interactive interface used for displaying the interactive information output by the interactive output unit is arranged on the handheld remote controller.
Further, the first bowden cable and the second bowden cable are both provided with a force output wire inside, the force output wire comprises a composite wire or a metal wire, and the force output wire is connected with the moving part and the joint mechanism through the corresponding first bowden cable and second bowden cable.
The invention has the advantages that (1) the other end of the first bowden cable acts on the turntable, the other end of the second bowden cable acts on the turntable fixedly after acting through the guide wheel, the invention is also provided with a control unit, an input unit and an interactive output unit, the input unit is used for selecting a training mode, the interactive output unit is used for outputting interactive information, the input unit and the interactive output unit are electrically connected with the control unit, the driving device is electrically connected with the control unit, the input unit is used for inputting instructions of different rehabilitation modes, and the control unit is used for controlling the driving device to perform different rehabilitation modes, so that the training mode can be adjusted according to rehabilitation requirements.
(2) The first mounting plate is provided with a first through hole and a second through hole which are respectively used for the first bowden cable and the second bowden cable to pass through, one end of the first bowden cable is fixedly arranged on the first sliding plate, the other end of the first bowden cable passes through the first through hole and is fixedly connected with the turntable, one end of the second bowden cable is fixedly arranged on the third sliding plate, the other end of the second bowden cable bypasses the guide wheel and passes through the second through hole and is fixedly connected with the turntable, and the part of the first bowden cable and the second bowden cable between the first mounting plate and the second mounting plate can be positioned on the same plane with the part of the guide wheel through the arrangement of the first through hole and the second through hole, so that friction between the first bowden cable and the second bowden cable and the part of the guide wheel is driven when the first mounting plate and the second mounting plate slide is reduced.
(3) The wearing assembly comprises a shoulder belt used for being carried by a user and a waist belt used for wrapping the waist of the user, wherein the shoulder belt and the waist belt can be adjusted so as to be suitable for users with different sizes.
(4) The joint mechanism is further provided with a second shell, a rotating support disc, a limiting gear, a limiting plate, a first mounting block and a second mounting block, wherein the mounting frame, the turntable, the rotating support disc, the limiting gear, the limiting plate, the first mounting block and the second mounting block are all arranged in the second shell, the position angle of the extension arm can be adjusted through the insertion fit of the limiting block and the limiting groove, the rotating support disc drives the turntable to rotate between the first mounting block and the second mounting block, and the connecting arm limits the movement range through the limiting fit of the limiting rod and the extension arm and the position angle adjustment of the extension arm, so that the turntable is prevented from rotating excessively, and the use safety of a user is protected.
(5) The arm connecting piece is adjustably arranged on the connecting arm through the threaded fit of the positioning bolt and the knob and the positioning fit of the positioning block and the positioning groove, and the shoulder connecting piece can be adjusted in supporting position according to the needs of a user through the adjustable installation of the shoulder connecting piece.
(6) The first sliding plate, the second sliding plate and the third sliding plate are respectively provided with guide holes which are in one-to-one correspondence with the guide rods and can form sliding fit, the first sliding plate, the second sliding plate and the third sliding plate are sequentially arranged through the sliding fit of the guide holes and the guide rods, the first sliding plate and the third sliding plate are fixedly connected with each other, the first sliding plate is positioned on one side of the second sliding plate facing the first mounting plate, the third sliding plate is positioned on one side of the second sliding plate facing the second mounting plate, and deformation forces of the first elastic piece and the second elastic piece are measured through deformation of the first elastic piece and the second elastic piece and sensing of the position sensor, so that more accurate data can be obtained.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view showing the internal structures of the first and second housings of the present invention;
FIG. 3 is a schematic view of a joint mechanism and arm connector connection structure according to the present invention;
FIG. 4 is a schematic view of the connection explosion structure of the joint mechanism and the arm connecting member according to the present invention;
FIG. 5 is a schematic view of the structure of the driving motion device of the present invention;
FIG. 6 is a schematic view of the structure of the rotary support plate of the present invention;
FIG. 7 is a schematic view of the structure of the limiting plate of the present invention;
FIG. 8 is a schematic view of a limiting gear of the present invention;
FIG. 9 is a schematic diagram of an electrical connection according to the present invention;
FIG. 10 is a schematic diagram of the PID algorithm and feedforward control algorithm of the present invention.
In the figure, the wearing component: 1, shoulder strap: 11, waist belt: 12, clamping boxes 121, adjustable support rods 2, first rod bodies 21, second rod bodies 22, joint mechanisms 3, mounting frames 31, lifting holes 311, steering wheels 312, turntables 32, connecting arms 33, limiting rods 331, sliding grooves 332, positioning grooves 333, second shells 34, rotating support plates 35, leading grooves 351, rotating shafts 352, limiting gears 36, protruding blocks 361, extension arms 362, limiting plates 37, fixing rods 371, leading grooves 372, limiting blocks 373, first mounting blocks 38, second mounting blocks 39, leading parts 391, arm connecting pieces 4 drive moving devices 5, sliding supports 51, first mounting plates 511, first through holes 5111, second through holes 5112, second mounting plates 512, screw rods 513, guide rods 514, moving parts 52, first sliding plates 522, second sliding plates 521, third sliding plates 521, screw nuts 523, first elastic pieces 525, second elastic pieces 526, first elastic pieces 53, second elastic pieces 53, first through holes 5111, second through holes 5112, second sliding plates 521, screw rods 521, screw nuts 525, first elastic pieces 525, second elastic pieces 526, first elastic pieces 526, second elastic pieces 53, second elastic pieces, first elastic pieces 53, first elastic pieces, first elastic pieces 53, first elastic pieces 35, first elastic pieces 13, first elastic pieces, first elastic pieces 13, first elastic pieces 3, first elastic pieces first, first elastic pieces 3 first, through first, 3 first, and second through first, 3 and first, and 35 and 3, and 3 and 1 and 3 and.
Detailed Description
Referring to fig. 1 to 9, the invention has a wearing component 1, an adjustable support rod 2, a joint mechanism 3, an arm connecting piece 4 and a driving movement device 5; the joint mechanism 3 comprises a mounting frame 31, a rotary table 32 and a connecting arm 33, wherein the rotary table 32 is rotatably arranged on the mounting frame 31, one end of the connecting arm 33 is fixedly connected with the rotary table 32, the other end of the connecting arm 33 is connected with the arm connecting piece 4, one end of the adjustable support rod 2 is detachably and fixedly arranged on the wearing assembly 1, and the other end of the adjustable support rod 2 is fixedly connected with the mounting frame 31; the driving movement device 5 comprises a sliding bracket 51, a movement part 52 and a driving device 53 for sliding the movement part 52 on the sliding bracket 51, wherein the sliding direction of the movement part 52 is consistent with the extending direction of the adjustable supporting rod 2, the movement part 52 slides up and down through the driving of the driving device 53, a first bowden cable 6 and a second bowden cable 7 are further arranged, one end of the first bowden cable 6 is fixedly arranged on one side of the movement part 52, the other end extends towards the arm connecting piece 4, the second bowden cable 7 is fixedly arranged on the other side of the movement part 52, the other end extends away from the arm connecting piece 4, a guide wheel 8 for changing the extending direction of the other end of the second bowden cable 7 is rotatably arranged on the sliding bracket 51, the other end of the first bowden cable 6 acts on the rotary table 32, the other end of the second bowden cable 7 acts on the rotary table 32 through the effect of the guide wheel 8, a control unit a, an input unit b and an interactive output unit c are further arranged, the input unit b is used for selecting a training mode, the interactive output unit b is used for outputting interactive information, the interactive output unit c is electrically connected with the control unit a, the driving device 53 is electrically connected with the control unit a;
When the moving part 52 slides downwards, the first bowden cable 6 drives the turntable 32 to rotate anticlockwise, the turntable 32 drives the connecting arm 33 to rotate upwards, and when the moving part 52 slides upwards, the second bowden cable 7 drives the turntable 32 to rotate clockwise, and the turntable 32 drives the connecting arm 33 to rotate downwards.
The joint mechanism 3 is further provided with a second shell 34, a rotating support disc 35, a limiting gear 36, a limiting plate 37, a first mounting block 38 and a second mounting block 39, wherein the mounting frame 31, the turntable 32, the rotating support disc 35, the limiting gear 36, the limiting plate 37, the first mounting block 38 and the second mounting block 39 are all arranged in the second shell 34, the first mounting block 38 and the second mounting block 39 are fixedly arranged on the mounting frame 31, two sides of the rotating support disc 35 are fixedly provided with rotating shafts 352, the turntable 32 and the first mounting block 38 are arranged on one side of the rotating support disc 35, the limiting gear 36 and the second mounting block 39 are arranged on the other side of the rotating support disc 35, the turntable 32, the first mounting block 38, the limiting gear 36 and the second mounting block 39 are all provided with rotating holes g which can be matched with the rotating shaft 352, the turntable 32 is pressed on the rotating support disc 35 through the matching holes g on the turntable 32, the turntable 32 is fixedly connected with the rotating support disc 35, the first mounting block 38 is rotatably arranged on the rotating shaft 35 through the rotating holes g on the rotating plate 31, the rotating plate is arranged on the rotating plate 35 through the rotating plate 35 corresponding side of the rotating plate 35, the rotating plate 32 is arranged on the rotating plate 35 through the rotating plate 35, the rotating plate 35 is arranged on the rotating plate 35 through the rotating plate 35 corresponding side of the rotating plate 35, the rotating plate is arranged on the rotating plate 35 through the rotating plate hole g which can be matched with the rotating plate 35, and the rotating plate 35 through the rotating plate 35, the rotating plate is arranged on the rotating plate hole g, which can be arranged on the rotating plate 35 through the rotating plate and the rotating plate. The limiting plate 37 is arranged on the mounting frame 31 in a sliding manner through the matching of the fixed rod 371 and the lifting hole 311, a plurality of protruding blocks 361 which are uniformly and circumferentially distributed with the center of the limiting gear 36 as an origin are arranged on the periphery of the limiting gear 36, limiting grooves are formed between two adjacent protruding blocks 361, limiting blocks 373 which can be in plug-in fit with the limiting grooves are fixedly arranged on the limiting plate 37, a reset spring is fixedly arranged in the lifting hole 311, one end of the reset spring acts on the hole bottom of the lifting hole 311, the other end of the reset spring acts on the fixed rod 371, the limiting plate 37 always moves towards the limiting gear 36 through the action of the reset spring, the limiting blocks 373 form plug-in fit with the limiting grooves under the action of the movement of the limiting plate 37, the limiting blocks 373 deviate towards the rotation direction of the limiting gear 36, guide grooves for guiding the protruding blocks 361 to push the limiting plate 37 to descend are formed at the connecting positions of the limiting blocks 373, and the limiting plate 37 and the limiting gear 36 form rotation limiting through the plug-in fit with the limiting grooves and the elastic force of the reset spring;
The limiting plate 37 is provided with a guide groove 372, the second mounting plate 512 is fixedly provided with a guide block 391 which can form sliding fit with the guide groove 372, the limiting block 373 forms stable lifting under the sliding fit of the guide block 391 and the guide groove 372, the second mounting plate 512 is also provided with a sliding through groove which extends along the lifting direction of the limiting plate 37, one end of the sliding through groove is fixedly arranged on the limiting plate 37, the other end of the sliding through groove extends through a bolt, the bolt is arranged in the sliding through groove in a sliding manner, the limiting plate 37 forms passive lifting through the sliding fit of the bolt and the sliding through groove, and the limiting plate 37 forms active lifting through the action of a spring and the sliding fit of the guide block 391 and the guide groove 372;
An extension arm 362 extending outwards with the center of the limit gear 36 as the center is fixedly arranged on the limit gear 36, and a limit rod 331 is fixedly arranged on the connecting arm 33, and the limit rod 331 can form limit fit with the extension arm 362.
The position angle of the extension arm 362 can be adjusted by the plug-in fit of the limiting block 373 and the limiting groove, and the connecting arm 33 limits the movement range after the limiting rod 331 is in limit fit with the extension arm 362 and the position angle of the extension arm 362 is adjusted.
The outer wall of the rotary supporting disc 35 is provided with a guide groove 351 extending along the direction of the outer contour of the rotary supporting disc 35, the first bowden cable 6 and the second bowden cable 7 are clamped in the guide groove 351, a steering wheel 312 used for guiding the second bowden cable 7 to be connected with the rotary supporting disc 35 after steering is further rotatably arranged between the first mounting block 38 and the second mounting block 39, the first bowden cable 6 is wound on the rotary supporting disc 35 clockwise along the extending direction of the guide groove 351, and the second bowden cable 7 is wound on the rotary supporting disc 35 anticlockwise after being steered by the steering wheel 312.
The two limiting blocks 373 may be provided with two limiting blocks 373, wherein one of the two limiting blocks 373, which is in contact with the protruding block 361 first, is offset towards the rotation direction of the limiting gear 36, and the other limiting block 373 is offset towards the rotation direction of the limiting gear 36 by less than the limiting block 373, which is in contact with the protruding block 361 first, and the two limiting blocks 373 may be respectively in plug-in fit with the two adjacent limiting grooves, so that the limiting of the limiting gear 36 by the limiting plate 37 is more stable, and the gap between the single limiting block 373 and the limiting groove is reduced.
The extension arm 362 is fixedly provided with an adjusting roller for adjusting the limiting gear 36 after the limiting block 373 is separated from the limiting groove, the second housing 34 is provided with a slot extending along the sliding direction of the sliding through groove and allowing the bolt to pass through, and an adjusting groove allowing the adjusting roller to pass through, and the adjusting groove extends along the circumferential movement direction of the adjusting roller with the center of the limiting gear 36 as the origin.
The wearing assembly 1 is also provided with a first shell 9 fixedly arranged on the wearing assembly 1, the moving part 52 comprises a first sliding plate 521, a second sliding plate 522, a third sliding plate 523, a screw nut 514, a first elastic element 525 and a second elastic element 526, the sliding bracket 51 comprises a first mounting plate 511, a second mounting plate 512, a screw 513 and a guide rod 514, and the first elastic element 525 and the second elastic element 526 are spring elements;
The first mounting plate 511 and the second mounting plate 512 are vertically symmetrically and fixedly arranged in the shell, the screw rod 513 is rotatably arranged between the first mounting plate 511 and the second mounting plate 512, the extending direction of the screw rod 513 is consistent with that of the adjustable support rod 2, the first mounting plate 511 is close to the joint mechanism 3, the second mounting plate 512 is far away from the joint mechanism 3, the guide rod 514 is provided with a plurality of guide rods which are fixedly arranged between the first mounting plate 511 and the second mounting plate 512 and extend along the extending direction of the screw rod 513, the driving device 53 is fixedly arranged on the second mounting plate 512, the output end of the driving device 53 is fixedly connected with the screw rod 513, and the guide wheel 8 is rotatably arranged on the second mounting plate 512;
The screw nut 514 is disposed on the screw 513 and can form a threaded fit with the screw 513, the first sliding plate 521, the second sliding plate 522 and the third sliding plate 523 are respectively provided with guide holes which are in one-to-one correspondence with the guide rods 514 and can form a sliding fit, the first sliding plate 521, the second sliding plate 522 and the third sliding plate 523 are sequentially arranged through the sliding fit of the guide holes and the guide rods 514, the first sliding plate 521 and the third sliding plate 523 are fixedly connected with each other, the first sliding plate 521 is disposed on one side of the second sliding plate 522 facing the first mounting plate 511, the third sliding plate 523 is disposed on one side of the second sliding plate 522 facing the second mounting plate 512, the middle part of the screw nut 514 is fixedly connected with the second sliding plate 522, the first elastic member 525 and the second elastic member 526 are respectively sleeved on two sides of the screw nut 514, one end of the first elastic member 525 acts on one side of the screw nut 514, the other end of the first elastic member 525 acts on the other side of the first sliding plate 514, and the other end of the second elastic member 526 acts on the other side of the screw nut 514, and the other end of the second elastic member 526 acts on the third sliding plate 523;
The first mounting plate 511 is provided with a first through hole 5111 and a second through hole 5112 which are respectively used for the first bowden cable 6 and the second bowden cable 7 to pass through, one end of the first bowden cable 6 is fixedly arranged on the first sliding plate 521, the other end of the first bowden cable 6 passes through the first through hole 5111 and is fixedly connected with the turntable 32, one end of the second bowden cable 7 is fixedly arranged on the third sliding plate 523, and the other end of the second bowden cable 7 passes through the second through hole 5112 and is fixedly connected with the turntable 32 after bypassing the guide wheel 8.
The first housing 9 is further provided therein with a position sensor 10 for detecting a sliding displacement of the slider, and the position sensor 10 is electrically connected to the control unit a.
The driving movement device 5 is based on a flexible driver, and the following is the bottom movement control of force feedback of the flexible driver:
F=ks*Δx
Where F represents the measured force units in newtons, k s represents the spring stiffness units in newtons/meter Deltax represents the spring compression units in meters.
Modeling of the driving motion device 5 can be described as a linear second order system:
Wherein u represents the output torque unit of the motor, i represents the current unit, ampere is represented by k i, the torque constant of the motor is represented by a 0,a1,b0, and the model parameters can be obtained through model identification or nominal parameter calculation.
To counteract or reduce possible disturbances and deviations between the future control unit a and the control of the drive means 53, a PID algorithm and a feedforward control algorithm are added, see fig. 10.
The linear second-order system described above, where k p,kd is the desired force, a 0/b0 can be calibrated by measuring the static relationship between the motor torque and the output force of the driving motion device 5, and the final controller can be described as:
Wherein k p,kd is a PD control parameter, and the step response test can be used for setting, and the step response and the sinusoidal signal control effect can be measured simultaneously in the test, namely, when the kp coefficient is increased, the response between the control unit a and the driving device 53 is faster, and vice versa, and when the kd coefficient is increased, the overshoot of the signal transmission between the control unit a and the driving device 53 is obviously reduced, and vice versa.
The PD control parameters are the parts existing in the prior art
The intelligent robot is characterized by further comprising a sensing and control system, wherein the sensing and control system comprises an inertial measurement unit I d which can be installed at a large arm, an inertial measurement unit II e which can be installed at a small arm and an inertial measurement unit III f which can be installed at a trunk, the combination of the inertial measurement unit I d, the inertial measurement unit II e and the inertial measurement unit III f is used for monitoring a motion state and a motion gesture, and the inertial measurement unit I d, the inertial measurement unit II e and the inertial measurement unit III f are electrically connected with the control unit a.
The control unit a can control the input unit b to perform a rehabilitation mode of a self-adaptive mode or a passive mode or an evaluation mode, and the interactive output unit c is used for displaying the selected rehabilitation mode;
When the control unit a can control the input unit b to perform the rehabilitation mode of the self-adaptive mode, the self-adaptive mode has the function of providing gravity compensation, reducing the self-weight load of a patient, judging the movement intention of the patient to lift and put down according to the sensing information of the IMU, and providing dynamic assistance while reducing the shoulder load of the patient. The IMU on the forearm can detect the inclination angle theta s and the angular velocity of the patient's forearm and the horizontal plane Such information, and after having captured such information, the control unit a adjusts the adaptive assist force of the drive device 53, the adaptive assist torque being designed as follows:
Wherein k gsin(θs-θ0) represents a gravity compensation term, Representing moment related to shoulder movement speed, θ 0 is offset of position measured by the position sensor 10, k g,kv is adjustable gain of two moments respectively, k g can be determined according to the weight of the upper limb of the patient, k g =mgl when the weight is completely compensated, wherein m is the weight of the upper limb, g is the gravity acceleration, and l is the distance between the gravity center of the upper limb and the shoulder joint;
when the patient's upper limb is moved to a position to remain stationary, The resulting moment value is 0 and the robot provides only gravity compensation.
By adjusting the force output, the support for the patient is further adjusted.
When the control unit a can control the input unit b to perform the rehabilitation mode of the passive mode, the control unit a loads fixed track motion data, the fixed track motion data is that the driving device 53 performs a set rotation speed and a set rotation direction at the output end of the driving device 53 under a set setting, so as to drive the second sliding plate 522 to push the first sliding plate 521 or the third sliding plate 523 to slide in the set direction and the sliding speed, and the first bowden cable 6 and the second bowden cable 7 respectively drive the turntable 32 to perform rotation in different directions, thereby controlling the lifting angle of the shoulder of the patient.
When the control unit a can control the input unit b to perform the rehabilitation mode of the evaluation mode, the control unit a does not give an instruction to the driving device 53, and at this time, the second sliding plate 522 does not push the first sliding plate 521 or the third sliding plate 523 to drive the corresponding first bowden cable 6 or the second bowden cable 7 to control the rotation of the turntable 32, in the evaluation mode, the movement capability of the patient is evaluated by using the sensing of the IMU equipped with the robot without limiting the movement of the patient as much as possible.
The IMU is a generic term for the first inertial measurement unit d, the second inertial measurement unit e, and the third inertial measurement unit f.
The wearing assembly 1 comprises a shoulder belt 11 for carrying a user and a waist belt 12 for wrapping the waist of the user, wherein the waist belt 12 is provided with two waist belts, one ends of the two waist belts 12 are respectively fixedly arranged on two sides of the lower end of the shoulder belt 11, the other ends of the two waist belts 12 can be mutually spliced and matched through connectors, clamping boxes 121 are arranged on the two waist belts 12, clamping grooves are formed in the clamping boxes 121, connecting blocks 23 are fixedly arranged on one ends of the adjustable support rods 2, which are detachably fixed with the wearing assembly 1, of the connecting blocks 23, clamping blocks which can be matched with the clamping grooves in a clamping mode are fixedly arranged on the wearing assembly 1, the adjustable support rods 2 are slidably arranged on the waist belt 12 in a clamping mode through the clamping blocks and the clamping grooves, and after the waist belt 12 acts on the waist of the user, the clamping boxes 121 are extruded, so that the clamping boxes 121 cannot actively slide on the waistband part.
The adjustable support rod 2 comprises a first rod body 21 and a second rod body 22, wherein a sliding groove for the first rod body 21 to be inserted into and slide is formed in the second rod body 22, the first rod body 21 is in sliding connection with the second rod body 22 through the sliding groove, and a limiting piece for limiting the first rod body 21 and the second rod body 22 to slide is arranged on the first rod body 21.
The limiting piece adopts a quick-release locking buckle in the prior art, and the specific structure of the limiting piece can refer to the height locking structure of the bicycle saddle.
The arm connecting piece 4 is fixedly arranged on one side of the connecting arm 33 through the adjusting piece 1-1, a sliding groove 332 which is extended and combined along the extending direction of the connecting wall is arranged on the other side of the connecting arm 33, a positioning groove 333 which is extended and arranged uniformly along the extending direction of the sliding groove 332 is also arranged on the other side of the connecting arm 33, the adjusting piece 1-1 comprises an installation seat 1-11 and a clamping seat 1-12, the installation seat 1-11 is arranged on one side of the connecting arm 33, which is provided with the arm connecting piece 4, the clamping seat 1-12 is arranged on the other side of the connecting arm 33, the clamping seat 1-12 is provided with a positioning block which can form positioning fit with the positioning groove 333, a positioning bolt 1-13 is also arranged on the other side of the connecting arm 33, the installation seat 1-11 and the clamping seat 1-12 are correspondingly penetrated with a positioning hole through which can be used for the threaded part of the positioning bolt 1-13 to pass, a limiting hole which can be used for limiting the positioning bolt 1-13 to be arranged inside is correspondingly arranged on the arm connecting piece 4, and the positioning bolt 1-13 is also provided with a knob 1-14 which can form positioning fit with the threaded part of the positioning bolt 1-13, and the knob 1-13 can be matched with the positioning groove 1-13, and the positioning block is arranged on the knob 1-13.
The mounting seat 1-11 is symmetrically provided with stopper screws by taking the positioning bolts 1-13 as central lines, each stopper screw is sleeved with a spring reset piece, one end of each spring reset piece acts on the clamping seat 1-12, the other end of each spring reset piece acts on the connecting arm 33, after the knob 1-14 is unscrewed, the clamping seat 1-12 can be loosened, and the clamping seat 1-12 at the moment can be jacked up by the spring reset piece, so that the position of the arm connecting piece 4 can be conveniently adjusted.
The device is also provided with a hand-held remote controller which is electrically connected with the control unit a and is used for controlling the output size of the driving device 53, controlling the input unit b to select a training mode and feeding back the interactive information output by the interactive output unit c, wherein the hand-held remote controller is electrically connected with the control unit a, the input unit b and the interactive output unit c, and an interactive interface for displaying the interactive information output by the interactive output unit c is arranged on the hand-held remote controller.
The first bowden cable 6 and the second bowden cable 7 each have a force output wire inside, which comprises a composite wire or a metal wire, which force output wire is connected to the movement part 52 and the joint mechanism 3 via the respective first bowden cable 6 and second bowden cable 7.
After the wearing component 1 is worn by a user, the position and the length of the adjustable supporting rod 2 are adjusted according to the self requirement, the shoulder of the user is placed on the shoulder connecting piece, then the pin shaft is driven to slide in the sliding through groove, the limiting block 373 on the limiting plate 37 is further driven to be separated from the splicing fit with the limiting groove, the limiting gear 36 is driven to rotate by the driving adjusting roller to adjust the position of the extension arm 362, and the movement range of the shoulder of the user is further limited by the limiting fit of the limiting rod 331 on the connecting arm 33 and the extension arm 362, so that excessive rotation is avoided;
the input unit b is controlled by the hand-held remote controller to select different modes, the selected modes are output by the control unit a, and the mode selection structure is fed back to the hand-held remote controller;
The control unit a controls the output end of the driving device 53 to rotate, the output end of the driving device 53 rotates and then drives the screw rod 513 to rotate, the screw rod 513 rotates to drive the screw rod nut 514 to slide on the screw rod 513, and in the sliding process of the screw rod nut 514, the screw rod nut 514 drives the second sliding plate 522 to slide;
when the second sliding plate 522 is driven by the screw rod 513 and the screw threads of the screw rod 513 and the screw rod nut 514 are matched to slide downwards, the second sliding plate 522 in sliding presses the second elastic piece 526 in the sliding direction, the second elastic piece 526 pushes the third sliding plate 523 to drive the first sliding plate 521 to slide, and at this time, the first bowden cable 6 drives the turntable 32 to rotate anticlockwise, and the turntable 32 drives the connecting arm 33 to rotate upwards;
When the second sliding plate 522 is driven by the screw rod 513 and the screw threads of the screw rod 513 and the screw rod nut 514 are matched to slide upwards, the sliding second sliding plate 522 presses the first elastic element 525 in the sliding direction, the first elastic element 525 pushes the first sliding plate 521 to drive the third sliding plate 523 to slide, and at the moment, the second bowden cable 7 drives the turntable 32 to rotate clockwise, and the turntable 32 drives the connecting arm 33 to rotate downwards;
the connecting arm 33 rotates upward or downward to actively or passively support the arm of the user;
In the process of synchronously sliding the first sliding plate 521, the second sliding plate 522 and the third sliding plate 523, the second sliding plate 522 is driven by the screw rod 513 and the screw of the screw rod 513 and the screw nut 514 is matched to slide, the sliding second sliding plate 522 presses the first elastic member 525 or the second elastic member 526 in the sliding direction, the position sensor 10 can calculate the compression amount of the first elastic member 525 and the second elastic member 526, and then feed back the compression amount to the control unit a, and then the output force of the driving device 53 is adjusted through the selected mode and the algorithm;
in the whole process, the first inertial measurement unit d installed at the big arm of the user, the second inertial measurement unit e installed at the big arm of the user and the third inertial measurement unit f installed at the big arm of the user monitor the motion state and the motion gesture of the user in real time, and transmit the monitoring result to the control unit a, and the control unit a adjusts the output of the driving motion device 5 and displays the result through the interactive output unit c.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (11)
1. The upper limb robot for shoulder rehabilitation training is characterized by comprising a wearing assembly (1), an adjustable supporting rod (2), a joint mechanism (3), an arm connecting piece (4) and a driving movement device (5), wherein the joint mechanism (3) comprises a mounting frame (31), a rotary table (32) and a connecting arm (33), the rotary table (32) is rotatably arranged on the mounting frame (31), one end of the connecting arm (33) is fixedly connected with the rotary table (32), the other end of the connecting arm (33) is connected with the arm connecting piece (4), one end of the adjustable supporting rod (2) is detachably and fixedly arranged on the wearing assembly (1), the other end of the adjustable supporting rod (2) is fixedly connected with the mounting frame (31), the driving movement device (5) comprises a sliding bracket (51), a movement part (52) and a driving device (53) for sliding the movement part (52) on the sliding bracket (51), the sliding direction of the movement part (52) is consistent with the extending direction of the adjustable supporting rod (2), the movement part (52) is driven by the driving device (53) to form up-down sliding, a first bowden cable (6) and a second cable (7), one end of the first Bowden cable (6) is fixedly arranged on one side of the moving part (52) and the other end extends towards the arm connecting piece (4), the second Bowden cable (7) is fixedly arranged on the other side of the moving part (52) and the other end extends away from the arm connecting piece (4), a guide wheel (8) for changing the extending direction of the other end of the second Bowden cable (7) is rotatably arranged on the sliding support (51), the other end of the first Bowden cable (6) acts on the rotary table (32), the other end of the second Bowden cable (7) acts on the rotary table (32) through the action of the guide wheel (8), a control unit (a), an input unit (b) and an interaction output unit (c) are further arranged, the input unit (b) is used for selecting a training mode, the interaction output unit (c) is used for outputting interaction information, the input unit (b) and the interaction output unit (c) are electrically connected with the control unit (a), and the driving device (53) is electrically connected with the control unit (a).
2. The upper limb robot for shoulder rehabilitation training according to claim 1, wherein the joint mechanism (3) is further provided with a second shell (34), a rotating support disc (35), a limiting gear (36), a limiting plate (37), a first mounting block (38) and a second mounting block (39), the mounting frame (31), the rotary disc (32), the rotating support disc (35), the limiting gear (36), the limiting plate (37), the first mounting block (38) and the second mounting block (39) are all arranged in the second shell (34), the first mounting block (38) and the second mounting block (39) are all fixedly arranged on the mounting frame (31), two sides of the rotating support disc (35) are fixedly provided with rotating shafts (352), the rotary disc (32) and the first mounting block (38) are arranged on one side of the rotating support disc (35), the limiting gear (36) and the second mounting block (39) are arranged on the other side of the rotating support disc (35), the rotary disc (32), A first mounting block (38), the limiting gear (36) and the second mounting block (39) are respectively provided with a rotating hole (g) which can be matched with the rotating shaft (352), the rotary table (32) is pressed on the rotating support disc (35) through the matching of the rotating hole (g) on the rotary table and the rotating shaft (352), the rotary table (32) is fixedly connected with the rotating support disc (35), the first mounting block (38) is rotatably arranged on the rotating shaft (352) on the corresponding side of the rotating support disc (35) through the rotating hole (g) on the rotary table, the limiting gear (36) is rotatably arranged on the rotating shaft (352) on the corresponding side of the rotating support disc (35) through the rotating hole (g) on the limiting gear (36) on the rotating shaft (352) on the corresponding side of the rotating support disc (35), the second mounting block (39) is rotatably arranged on the rotating shaft (352) on the corresponding side of the rotating support disc (35) through the rotating hole (g) on the rotating plate (32) on the rotating plate (35), the rotary table (32) is positioned between the rotating support disc (35) and the first mounting block (38), the limiting gear (36) is positioned between the rotating support disc (35) and the second mounting block (39), the rotary table (32), The limiting device comprises a mounting frame (31), a limiting plate (37) and a limiting gear (36), wherein a lifting hole (311) is formed in the mounting frame (31), a fixed rod (371) which can form sliding fit with the lifting hole (311) is fixedly arranged on the limiting plate (37), the limiting plate (37) is arranged on the mounting frame (31) in a sliding manner through the fixed rod (371) and the lifting hole (311), a plurality of protruding blocks (361) which are uniformly and circumferentially distributed with the center of the limiting gear (36) as an origin are arranged on the periphery of the limiting gear (36), limiting grooves are formed between two adjacent protruding blocks (361), limiting blocks (373) which can be in plug-in fit with the limiting grooves are fixedly arranged on the limiting plate (37), a reset spring is fixedly arranged in the lifting hole (311), one end of the reset spring acts on the hole bottom of the lifting hole (311), the other end of the reset spring acts on the fixed rod (371), the limiting block (37) always moves towards the limiting gear (36) through the action of the reset spring, and forms fit with the limiting grooves under the action of the movement of the limiting plate (37), the limiting block (373) forms the limiting grooves, and the limiting block (373) is in a mode of being in the direction of shifting towards the limiting gear (36) through the limiting spring, and the limiting grooves (37) and the limiting grooves are formed by the limiting action of the limiting blocks;
The limiting plate (37) is provided with a guide groove (372), a guide block (391) which can form sliding fit with the guide groove (372) is fixedly arranged on the second mounting plate (512), the limiting block (373) forms stable lifting under the sliding fit of the guide block (391) and the guide groove (372), the second mounting plate (512) is also provided with a sliding through groove which is arranged along the lifting direction of the limiting plate (37) in an extending way, one end of the sliding through groove is fixedly arranged on the limiting plate (37) and the other end of the sliding through groove extends through a bolt of the sliding through groove, the bolt is arranged in the sliding through groove in a sliding way, the limiting plate (37) forms passive descending through the sliding fit of the bolt and the sliding through groove, and the limiting plate (37) forms active lifting through the action of a spring and the sliding fit of the guide block (391) and the guide groove (372);
the limiting gear (36) is fixedly provided with an extension arm (362) which extends outwards by taking the center of the limiting gear (36) as the center, the connecting arm (33) is fixedly provided with a limiting rod (331), and the limiting rod (331) can form limiting fit with the extension arm (362).
3. The upper limb robot for shoulder rehabilitation training according to claim 2, wherein the outer wall of the rotary support disc (35) is provided with a guide groove (351) extending along the outer contour direction of the rotary support disc (35), the first bowden cable (6) and the second bowden cable (7) are clamped in the guide groove (351), a steering wheel (312) used for guiding the second bowden cable (7) to steer and then connected with the rotary support disc (35) is further rotatably arranged between the first mounting block (38) and the second mounting block (39), the first bowden cable (6) is wound on the rotary support disc (35) clockwise along the extending direction of the guide groove (351), and the second bowden cable (7) is wound on the rotary support disc (35) anticlockwise after being subjected to steering action of the steering wheel (312).
4. The upper limb robot for shoulder rehabilitation training according to claim 1, wherein a first housing (9) fixedly arranged on the wearing assembly (1) is further provided, the moving part (52) comprises a first sliding plate (521), a second sliding plate (522), a third sliding plate (523), a screw nut (514), a first elastic member (525) and a second elastic member (526), and the sliding bracket (51) comprises a first mounting plate (511), a second mounting plate (512), a screw (513) and a guide rod (514);
The guide rod (514) is provided with a plurality of guide rods (514) which are fixedly arranged between the first mounting plate (511) and the second mounting plate (512) and extend along the extending direction of the guide rod (513), the driving device (53) is fixedly arranged on the second mounting plate (512) and the output end of the driving device (53) is fixedly connected with the guide rod (513), and the guide wheel (8) is rotatably arranged on the second mounting plate (512);
The screw nut (514) is arranged on the screw (513) and can be in threaded fit with the screw (513), guide holes which are in one-to-one correspondence with the guide rods (514) and can be in sliding fit are formed in the first sliding plate (521), the second sliding plate (522) and the third sliding plate (523) respectively, the first sliding plate (521), the second sliding plate (522) and the third sliding plate (523) are sequentially arranged through the guide holes and are in sliding fit with the guide rods (514), the first sliding plate (521) and the third sliding plate (523) are fixedly connected with each other, the first sliding plate (521) is positioned on one side, facing the first mounting plate (511), of the second sliding plate (522), the third sliding plate (523) is positioned on one side, facing the second mounting plate (512), of the second sliding plate (522), the middle part of the screw nut (514) is fixedly connected with the second sliding plate (522), the first elastic piece (526) and the second elastic piece (526) are respectively sleeved on two sides of the screw nut (514), one end of the first elastic piece (525) acts on one side of the screw nut (514), the other end of the first elastic piece (526) acts on the other end of the second elastic piece (526) of the first elastic piece (526) acts on the second elastic piece (526;
The left-right symmetry is equipped with first through-hole (5111) and second through-hole (5112) that can supply first bowden cable (6) and second bowden cable (7) to pass through respectively on first mounting panel (511), the one end of first bowden cable (6) is fixed to be set up on first sliding plate (521), and after the other end of first bowden cable (6) passed first through-hole (5111) with carousel (32) fixed connection, the one end of second bowden cable (7) is fixed to be set up on third sliding plate (523), and after the guide pulley (8) was walked around to the other end of second bowden cable (7) and pass behind second through-hole (5112) with carousel (32) fixed connection.
5. The upper limb robot for shoulder rehabilitation training according to claim 4, wherein a position sensor (10) for detecting the sliding offset of the sliding block is further arranged in the first shell (9), and the position sensor (10) is electrically connected with the control unit (a).
6. An upper limb robot for shoulder rehabilitation training according to claim 1, further comprising a sensing and control system comprising a first inertial measurement unit (d) mountable at the forearm, a second inertial measurement unit (e) mountable at the forearm, and a third inertial measurement unit (f) mountable at the torso, the first inertial measurement unit (d), the second inertial measurement unit (e), and the third inertial measurement unit (f) being combined for monitoring movement status and movement posture, the first inertial measurement unit (d), the second inertial measurement unit (e), and the third inertial measurement unit (f) each being electrically connected to the control unit (a).
7. The upper limb robot for shoulder rehabilitation training according to claim 1, wherein the wearing component (1) comprises a shoulder belt (11) for a user to bear and a waist belt (12) for wrapping the waist of the user, the two waist belts (12) are arranged, one ends of the two waist belts (12) are fixedly arranged on two sides of the lower end of the shoulder belt (11) respectively, the other ends of the two waist belts (12) can be mutually inserted and matched through connectors, clamping boxes (121) are arranged on the two waist belts (12), clamping grooves are formed in the clamping boxes (121), a connecting block (23) is fixedly arranged on one end, detachably fixed, of the adjustable supporting rod (2) and the wearing component (1), clamping blocks capable of being matched with the clamping grooves are fixedly arranged on the connecting block (23), the adjustable supporting rod (2) is detachably and fixedly arranged on the wearing component (1) through the clamping blocks and the clamping grooves, and the clamping waist (121) is slidably arranged on the clamping boxes (12).
8. The upper limb robot for shoulder rehabilitation training according to claim 7, wherein the adjustable support rod (2) comprises a first rod body (21) and a second rod body (22), a sliding groove which is used for the first rod body (21) to be inserted into and slide is formed in the second rod body (22), the first rod body (21) is in sliding connection with the second rod body (22) through the sliding groove, and a limiting piece used for limiting the first rod body (21) and the second rod body (22) to slide is arranged on the first rod body (21).
9. The upper limb robot for shoulder rehabilitation training according to claim 1, wherein the arm connecting member (4) is adjustably and fixedly arranged on one side of the connecting arm (33) through the adjusting member (1-1), a sliding groove (332) which is extended and combined along the extending direction of the connecting arm (33) is arranged on the other side of the connecting arm (33), positioning grooves (333) which are extended and arranged along the extending direction of the sliding groove (332) are also arranged on the other side of the connecting arm (33), the adjusting member (1-1) comprises a mounting seat (1-11) and a clamping seat (1-12), the mounting seat (1-11) is arranged on one side of the connecting arm (33) provided with the arm connecting member (4), the clamping seat (1-12) is arranged on the other side of the connecting arm (33) and provided with a positioning bolt (1-13) which can form positioning fit with the positioning groove (333), the mounting seat (1-11) and the clamping seat (1-12) are correspondingly provided with positioning bolts (1-13) which can pass through corresponding threaded portions of the connecting member (1-13) and are provided with positioning holes which can pass through corresponding positioning bolt holes (1-13) and are provided with positioning bolt positioning holes (13, the arm connecting piece (4) is adjustably arranged on the connecting arm (33) through the threaded fit of the positioning bolt (1-13) and the knob (1-14) and the positioning fit of the positioning block and the positioning groove (333).
10. The upper limb robot for shoulder rehabilitation training according to claim 1, wherein the upper limb robot is further provided with a hand-held remote controller which is electrically connected with the control unit (a) and is used for controlling the output size of the driving device (53) and controlling the input unit (b) to select a training mode and feeding back the interactive information output by the interactive output unit (c), and the hand-held remote controller is electrically connected with the control unit (a), the input unit (b) and the interactive output unit (c) and is provided with an interactive interface for displaying the interactive information output by the interactive output unit (c).
11. An upper limb robot for shoulder rehabilitation training according to claim 1, characterized in that the first bowden cable (6) and the second bowden cable (7) each have a force output wire inside, the force output wire comprising a composite wire or a metal wire, the force output wire being connected to the moving part (52) and the joint mechanism (3) by means of the corresponding first bowden cable (6) and second bowden cable (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510822960.4A CN120616985A (en) | 2025-06-19 | 2025-06-19 | Upper limb robot for shoulder rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510822960.4A CN120616985A (en) | 2025-06-19 | 2025-06-19 | Upper limb robot for shoulder rehabilitation training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN120616985A true CN120616985A (en) | 2025-09-12 |
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ID=96955008
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202510822960.4A Pending CN120616985A (en) | 2025-06-19 | 2025-06-19 | Upper limb robot for shoulder rehabilitation training |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN120616985A (en) |
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2025
- 2025-06-19 CN CN202510822960.4A patent/CN120616985A/en active Pending
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