CN106393073B - A kind of Portable flexible elbow joint exoskeleton robot - Google Patents
A kind of Portable flexible elbow joint exoskeleton robot Download PDFInfo
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- CN106393073B CN106393073B CN201611015755.4A CN201611015755A CN106393073B CN 106393073 B CN106393073 B CN 106393073B CN 201611015755 A CN201611015755 A CN 201611015755A CN 106393073 B CN106393073 B CN 106393073B
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- 210000001364 upper extremity Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
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- 238000005516 engineering process Methods 0.000 description 4
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- 238000005452 bending Methods 0.000 description 2
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- 230000035876 healing Effects 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- 230000004118 muscle contraction Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A61H1/0277—Elbow
-
- 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
- A63B23/1281—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 primarily by articulating the elbow joint
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Portable flexible elbow joint exoskeleton robots, include mainly elbow joint exoskeleton mechanism, driving mechanism and control device, and the present invention is arranged apart with driving mechanism by ectoskeleton, is realized and is driven by the structural transition of wirerope and wheel disc.Structure is driven using rope in driving method and cooperates series elastic driver, makes it have the advantages that control precision is high, output impedance is low, impact resistance is strong, wearing good portability.It joined two passive freedom degrees in the design of ectoskeleton, simulate human elbow kinetic characteristic, the adaptive adjustment of ectoskeleton and human elbow is realized, so that human elbow be protected to preserve from during exercise.The configuration of the present invention is simple is compact, realizes the rehabilitation training that science is carried out to patient's elbow joint.Simultaneously the present invention be also equipped with assist function, be suitable for carry, in terms of application.
Description
Technical field
It is specifically a kind of based on series connection elasticity the present invention relates to a kind of Portable flexible elbow joint exoskeleton robot
The rope of driver (series elastic actuator, SEA) drives elbow joint exoskeleton robot.
Background technique
With the aging of China's population, common disease of the upper extremity motor function disorder as the middle-aged and the old, disease hair
Rate rises year by year.Inconvenient to patient's bring in order to solve upper extremity motor function disorder, rehabilitation at present mainly has clinical health
It is multiple to treat and treated using rehabilitation equipment.Clinical rehabilitation treatment depends on rehabilitation therapist and the one-to-one treatment of patient,
However too many manpower and material resources are expended in this way, therefore people more pay attention to the research to rehabilitation equipment.Upper limb exoskeleton robot
It is widely noticed compared to other rehabilitation equipments because the intelligence for being able to achieve people is complementary with machine strength.By upper limb exoskeleton robot
Technology application to field of medical rehabilitation, can be provided for patient be more directed to, effective rehabilitation training.
Currently, the research for upper limb exoskeleton robot, foreign countries' starting is more early, has some good achievements.And state
Interior some research institutions also start to spread out research, achieve no small progress.Compare existing most of researchs both at home and abroad, hair
Existing its has the following problems: structure is complicated, wearing trouble；Robotically-driven rigidity is big, does not have flexibility, in the rehabilitation of patient
Secondary injury is be easy to cause in training process.
It finds by prior art documents, Chinese invention patent application number 201210244874.2, the technology is public
A kind of controllable variation rigidity flexibility elbow joint healing robot is opened, wearable exoskeleton mechanism has one degree of freedom, structure
It mainly include large arm, forearm, driving wheel and support frame.Driving method includes motor lead screw and connecting rod bullet using non-thread driving mechanism
Spring nonlinearizer.The drive system has certain flexibility, it is ensured that patient has higher safety in use
Property.But the structure is excessively many and diverse, dresses very inconvenient, shortage portability, and control complicated.
Chinese Patent Application No. 201410377134.5, the technology disclose a kind of upper limb ectoskeleton in parallel drive joint
Structure, including shoulder joint, elbow joint and carpal design.The design solves existing upper limb exoskeleton robot movement essence
It is poor to spend, and volume is big, the small problem of motion range.But it uses gear engaged transmission, it is desirable that manufacture and installation accuracy are higher, price
Valuableness, it is excessively cumbersome using three groups of gear transmission structures, and poverty of movement is flexible.
Chinese Patent Application No. 201410855081.3, the technology disclose a kind of seven freedom dermaskeleton type upper limb rehabilitation
Robot, including the forearm being sequentially connected and wrist joint mechanism, elbow joint mechanism, shoulder joint mechanism, chair mechanism.It passes through electricity
Machine drive control, auxiliary for hemiparalysis patient carry out active and passive exercise to upper limb suffering limb.The drive control is excessively complicated, driving
Joint is connected directly with rigid motor, and poverty of movement is flexible, it cannot be guaranteed that safety, in addition, the robot requires patient necessary
It is sitting on seat and carries out rehabilitation, structure does not account for portability.
Summary of the invention
The present invention is directed in view of the above shortcomings of the prior art, develop a kind of Portable flexible elbow joint ectoskeleton machine
People.The present invention uses for reference the driving principle of series elastic driver (series elastic actuator, SEA), develops one kind
Elbow joint flexible drive mode.Compared with traditional driver, SEA is rigidly to connect between driving power source and load into bullet
Spring, drive mode are more suitable for applying the ectoskeleton machine with human body close contact closer to the mechanical characteristic of human muscle
In device people's system.Flexible actuator can not only realize accurate power control, and have low output impedance, and high impact-resistant carries
The advantages that lotus, stability force exports.
Meanwhile the present invention using rope drive by the way of, driver and elbow joint ectoskeleton is arranged apart, driver output section
Divide and connect with rope drive wheel disc, is connected by wirerope transition with elbow joint ectoskeleton joint, is equally used in outer skeletal joint
Rope drives the form of wheel disc, realizes driving.Knapsack after being put into driver and control device when dressing robot, compared to
Driver is directly arranged at the structure of ectoskeleton joint by other, the design structure concision and compact, and wearing is portable, improves fortune
Dynamic flexibility, reduces the weight of ectoskeleton, and correspondingly increase its load capacity.
Furthermore, it is contemplated that the movement of human elbow is a kind of loose hinge movement, the present invention is in elbow joint ectoskeleton
Design in other than the stretching and beading freedom degree of elbow joint, separately joined two passive freedom degrees.Pass through inner arm set and outer arm set
The two passive freedom degrees are realized in relative motion.Upper arm inner sleeve can be achieved with respect to upper arm housing around upper arm in passive freedom degree one
Central axis rotation, to realize that the drive shaft of ectoskeleton rotates in the horizontal plane.Forearm inner sleeve phase can be achieved in passive freedom degree two
Forearm housing is slided along forearm central axis, to realize that ectoskeleton drive shaft is translatable in sagittal plane.The present invention by
Passive freedom degree is added in exoskeleton mechanism, reaches ectoskeleton drive shaft in arm motion with wearer's elbow joint rotation axis
Certain adaptive adjustment keeps ectoskeleton wearing more comfortable, safer.
The present invention is achieved by the following technical solutions:
A kind of Portable flexible elbow joint exoskeleton robot, it is characterised in that: including elbow joint exoskeleton mechanism, driving
Mechanism and control device.
The elbow joint exoskeleton mechanism includes upper arm supporting mechanism, main drive gear and forearm supporting mechanism, described
Upper arm supporting mechanism includes two upper arm support plates, upper arm housing and the upper arm inner sleeve for fixing arm upper arm, upper arm housing
The upper arm support plate of two sides, which is composed of a fixed connection, can place the space of arm upper arm, and upper arm inner sleeve is rotatable to be set to upper arm
On the inside of housing, upper arm inner sleeve can be around the central axis rotation of upper arm housing；The forearm supporting mechanism include two forearm support plates,
Forearm housing and for fixing the brachiocubital forearm inner sleeve of hand, the forearm support plate of two sides is fixedly connected with group by the forearm housing
At the brachiocubital space of hand can be placed, it is sheathed in forearm on the inside of forearm housing, what forearm inner sleeve opposite can slide back and forth
It is connected with forearm housing, described two upper arm support plates are connected with two forearm support plates by main drive gear；
The main drive gear includes two upper arm turntables, two forearm turntables and hollow shaft encoder, described two
For upper arm turntable respectively with two forearm turntables by two support axis connections, upper arm turntable and forearm turntable can be around corresponding supports
Axis rotation, the hollow shaft encoder is connected with one of them of two support shafts, two upper arm turntables respectively with two upper arm
Support plate is fixedly linked, and two forearm turntables are fixedly linked with two forearm support plates respectively；On the inside of two upper arm turntables respectively
It is fixed with an arc groove guide rail, upper arm inner sleeve lower part both ends are respectively equipped with sliding with the arc of arc groove guide rail cooperation
Block, an outside in two forearm turntables, which is equipped with, to be fixedly linked and coaxial ectoskeleton driving wheel disc, the ectoskeleton driving
Wheel disc is connected with the output end of driving mechanism；The signal access control apparatus of the hollow shaft encoder detection, the control dress
Control driving mechanism is set to drive ectoskeleton driving wheel disc spins, so that two forearm support plates of driving are relative to two upper arm branch
Fagging rotation, and then drive elbow joint exoskeleton mechanism arm motion.
Preferably, the driving mechanism includes that rope driving transmission mechanism, driver and rope drive fixing seat, and the rope, which drives, to be passed
Motivation structure drives V-type supporting block, two wirerope pipes including two wirerope, rope, restricts and drive support base and driver rope drive wheel disc, and two
The both ends of bar wirerope are separately fixed at ectoskeleton driving wheel disc and driver rope drives different location on wheel disc, and two wirerope are handed over
Fork setting, two wirerope pipes are respectively fitted on two wirerope, and V-type supporting block pressure is driven by rope in one end of two wirerope pipes
It fastens on upper arm turntable, the other end of two wirerope pipes is fixed on rope by spool set and drives on support base；The driving
Device is series elastic driver, and the driver rope drives wheel disc and is connected with the output end of series elastic driver, the series connection bullet
Property driver in encoder detection signal also access control apparatus, the control device provides power supply, and control series connection elasticity is driven
The rotation of the output end of dynamic device and rotational steps；The rope drives support base and series elastic driver is each attached to rope and drives fixing seat
On.
Preferably, the arc shaped slider is I-shaped sliding block, is equipped with arc shaped slider locating part on the inside of the arc groove guide rail,
Arc shaped slider locating part upper edge is stuck in the central slot of I-shaped sliding block, arc shaped slider locating part both ends and arc groove
Distance is less than I-shaped slider bottom width between guide rail another side.
Preferably, it is respectively equipped with the direction linear guide parallel with forearm housing on the inside of described two forearm housings, it is described
Be equipped with line slideway auxiliary capable of sliding back and forth in two linear guides, described two line slideway auxiliaries respectively with forearm inner sleeve two
Side is connected.
Preferably, the upper arm turntable is fixed to the support shaft connection, and support shaft and forearm turntable pass through rib bearing
It is connected, support shaft is equipped with jump-ring slot close to forearm turntable one end, and anti-stop edge bearing is equipped in the jump-ring slot relative to support
The circlip of axis axial movement.
Preferably, the upper arm turntable inside opposite with corresponding forearm turntable is respectively equipped with arc-shaped limit block, described
Arc-shaped limit block is staggered on upper arm turntable and forearm turntable, limits upper arm turntable and forearm turntable phase by arc-shaped limit block
To rotation angle.
Preferably, one end of two wirerope is respectively equipped with socket cap, and the socket cap of two wirerope passes through respectively
Stomata screw and ectoskeleton driving the wheel disc upper and lower position that is connected are fixedly linked, and the other end of two wirerope is respectively equipped with steel wire card
Head, the steel wire clamp of two steel cord ends pass through stomata screw respectively and are fixedly linked with driver rope drive wheel disc upper and lower position.
The present invention has the advantage that compared with prior art
Series connection flexible actuator is more suitable for the exoskeleton robot system with human body close contact, and the design will connect soft
Property elastic driver be applied in elbow joint exoskeleton robot, by simulate human muscle contraction mode, realization moving
In active power-assisted and passive buffer function.The design is arranged apart by driver and control device and elbow joint ectoskeleton, will
Driver and control device are put into rear knapsack, and by restricting, drive mode realizes transmission, and such design method not only has flexible drive
The advantages that dynamic device control precision is high, and output impedance is low, and resistance to shock loads is strong, drives the simple for structure of transmission simultaneously with rope, wears
It wears portable, moves the advantages that submissive.The present invention simulates human elbow kinetic characteristic in the design of ectoskeleton, designs two
Passive freedom degree realizes that elbow joint ectoskeleton with respect to the adaptive adjustment of human elbow, improves safety during the motion
Property.
Detailed description of the invention
Fig. 1 is overall schematic of the invention；
Fig. 2 is elbow joint ectoskeleton structural schematic diagram；
Fig. 3 is arc groove guide rail and arc shaped slider locating part structural schematic diagram；
Fig. 4 is perspective view of the explosion on the left of main drive gear；
Fig. 5 is the arc-shaped limit block schematic diagram on the inside of upper arm left-hand rotation Moving plate and forearm left-hand rotation Moving plate；
Fig. 6 is that rope drives structural schematic diagram；
Fig. 7 is driving mechanism schematic diagram；
Fig. 8 is main drive gear right side structure schematic diagram.
In figure, 1- upper arm left support plate, 2- upper arm housing, 3- upper arm right support plate, 4- upper arm inner sleeve, 6- arc shaped slider limit
Position part one, 5- arc shaped slider one, the left arc groove guide rail of 7-, 8- arc shaped slider two, 9- arc shaped slider locating part two, the right arc of 10-
Slot guide rail, 11- upper arm left-hand rotation Moving plate, 12- upper arm right-hand rotation Moving plate, 13- forearm left-hand rotation Moving plate, 14- forearm right-hand rotation Moving plate, 15- are left
Support shaft, 16- right support axis, 17- circlip, 18- rib bearing, 19- hollow shaft encoder, 20- forearm support plate one, before 21-
Arm support plate two, 22- line slideway auxiliary one, 23- line slideway auxiliary two, 24- guideway connector one, 25- guideway connector
Two, 26- linear guide one, 27- linear guide two, 28- forearm inner sleeve, 29- forearm housing, 30- ectoskeleton drive wheel disc, 31-
Wirerope one, 32- wirerope two, 33- rope drive V-type supporting block, 34- wirerope pipe one, 35- wirerope pipe two, 36- spool set,
37- rope drives support base, 38- steel wire clamp, 39- stomata screw, 40- driver rope drive wheel disc, 41- flexible drive module, 42- rotation
Turn encoder, 43- encoder fixing piece, 44- driver supporting element, 45- driver support base, 46- driver firm banking,
47- square steel fixes corner fittings, and 48- rope drives fixing seat.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
As shown in Figure 1, robot of the invention includes: elbow joint exoskeleton mechanism I, driving mechanism II and control device
Ⅲ。
As shown in Fig. 2, elbow joint exoskeleton mechanism I of the invention includes: upper arm supporting mechanism, main drive gear and preceding
Arm supporting mechanism.
Upper arm supporting mechanism includes upper arm left support plate 1, upper arm housing 2, upper arm right support plate 3, upper arm inner sleeve 4, arc
Sliding block 1, arc shaped slider 28, left arc groove guide rail 7, right arc groove guide rail 10, arc shaped slider locating part 1, arc shaped slider limit
Position part 29.As shown in figure 3, the arc shaped slider 1 is I-shaped sliding block, it is sliding to be equipped with arc on the inside of the left arc groove guide rail 7
Block locating part 1, one 6 upper edge of arc shaped slider locating part are stuck in the central slot of arc shaped slider 1, arc shaped slider limit
Distance is less than I-shaped slider bottom width between position one 6 both ends of part and left 7 another side of arc groove guide rail.Right arc groove guide rail 10
On structure as the structure on left arc groove guide rail 7.
Wherein upper arm housing 2 and upper arm left support plate 1, upper arm right support plate 3 are fastenedly connected, and reach supporting & stablizing upper arm knot
The effect of structure, upper arm inner sleeve 4 and arc shaped slider 1, arc shaped slider 28 are fixedly connected, arc shaped slider locating part 1 and left arc
Slot guide rail 7 is fixedly connected, and arc shaped slider locating part 29 is fixedly connected with right arc groove guide rail 10, the arc shaped slider 1 and arc
Shape sliding block 28 can slide in corresponding left arc groove guide rail 7 and right arc groove guide rail 10 respectively, left arc groove guide rail 7, right arc
The circular arc center of circle of shape slot guide rail 10, upper arm inner sleeve 4 and upper arm housing 2 four is overlapped, through arc shaped slider in arc groove guide rail
Sliding, can drive upper arm inner sleeve 4 relative to upper arm housing 2 rotate, realize elbow joint ectoskeleton rotary shaft in the horizontal plane around
Upper arm central axis rotation.
Main drive gear of the invention includes upper arm left-hand rotation Moving plate 11, upper arm right-hand rotation Moving plate 12, and forearm left-hand rotation Moving plate 13 is preceding
Arm right-hand rotation Moving plate 14, left support axis 15, right support axis 16, rib bearing 17, circlip 18, hollow shaft encoder 19.
Wherein left part, upper arm left-hand rotation Moving plate 11 are equipped with the groove being fastenedly connected with upper arm left support plate 1, such upper arm
Left-hand rotation Moving plate 11 and upper arm left support plate 1 are in a plane on the whole, are conducive to protect arm, 11 inside of upper arm left-hand rotation Moving plate
Face is equipped with the left arc groove guide rail 7 being fixedly linked by screw, and 15 right axle end of left support axis is also and on the inside of upper arm left-hand rotation Moving plate 11
It is fastenedly connected, the inner ring of rib bearing 18 is fixedly connected with left support axis 15, the outer ring of rib bearing 18 and forearm left-hand rotation Moving plate
13 are fixedly connected, and realize that forearm left-hand rotation Moving plate 13 is rotated relative to upper arm left-hand rotation Moving plate 11 around left support axis 15.In left support axis
Jump-ring slot is devised on 15 other ends, is equipped with circlip 17 in jump-ring slot, realizes that rib bearing 18 and forearm left-hand rotation Moving plate 13 are opposite
The axially position of left support axis 15,15 other end of left support axis are inserted into fixed in hollow shaft encoder 19, specific structure such as Fig. 4 institute
Show.In addition, being respectively equipped with to protect human elbow in the inside opposite with forearm left-hand rotation Moving plate 13 of upper arm left-hand rotation Moving plate 11
Arc-shaped limit block, arc-shaped limit block is staggered on the upper arm left-hand rotation Moving plate 11 and forearm left-hand rotation Moving plate 13, as shown in figure 5,
Upper arm left-hand rotation Moving plate 11 and 13 relative rotation angle of forearm left-hand rotation Moving plate are limited by arc-shaped limit block, so that it relatively rotates angle
Degree is within 0 ° to 150 °.Mechanism is similar to left side mechanism other than not having hollow shaft encoder 19 on the right side of main drive gear,
Here it does not repeat.
Forearm supporting mechanism of the invention includes forearm support plate 1, forearm support plate 2 21, linear guide 1, directly
Line guide rail 2 27, line slideway auxiliary 1, line slideway auxiliary 2 23, guideway connector 1, guideway connector 2 25 are preceding
Arm housing 29, forearm inner sleeve 28.
Wherein forearm support plate 1 is fastenedly connected with forearm left-hand rotation Moving plate 13, and forearm support plate 2 21 and forearm are turned right and moved
Disk 14 is fastenedly connected, and forearm support plate 1 and 2 21 inside of forearm support plate are fixed with linear guide 1 and straight line respectively
It is respectively equipped with line slideway auxiliary 1 and line slideway auxiliary 2 23 in guide rail 2 27, linear guide 1 and linear guide 2 27,
Forearm inner sleeve 28 is fixedly connected by guideway connector 1 with line slideway auxiliary 1 on one side, and 28 another side of forearm inner sleeve is logical
Guideway connector 2 25 is crossed to be fixedly connected with line slideway auxiliary 2 23；Being slided in linear guide by line slideway auxiliary can be with
Forearm inner sleeve 28 is driven to slide back and forth relative to forearm housing 29, to realize elbow joint ectoskeleton rotary shaft in sagittal plane
Translation.
Driving mechanism II of the invention includes: that rope driving transmission mechanism, driver and rope drive fixing seat 48.
As shown in fig. 6, rope driving transmission mechanism of the invention includes: ectoskeleton driving wheel disc 30, wirerope 1, wirerope
2 32, rope drives V-type supporting block 33, and wirerope pipe 1, wirerope pipe 2 35, spool set 36, rope drives support base 37, steel wire clamp
38, stomata screw 39, driver rope drives wheel disc 40.
Wherein wirerope 1, wirerope 2 32 by be fixed on ectoskeleton drive wheel disc 30 on two stomata screws 39
Inner hole is wound on ectoskeleton driving wheel disc 30, and wirerope 1 and wirerope 2 32 used in the present embodiment are that normal bicycle is stopped
Fare, one end are socket caps, and the wirerope 1 due to being wound on ectoskeleton driving wheel disc 30 and 2 32 one end of wirerope are
Socket cap, so 38 fixation ends of steel wire clamp are not needed, by wirerope pipe 1,2 35 sets of wirerope pipe in wirerope one
31, on wirerope 2 32, the length of wirerope pipe 1 and wirerope pipe 2 35 is less than wirerope 1 and wirerope 2 32
Length, cover spool set 36, wirerope pipe 1 and wirerope respectively in wirerope pipe 1 and 2 35 both ends of wirerope pipe
2 35 one end of pipe is fixed by screws in rope and drives in V-type supporting block 33, and rope drives V-type supporting block 33 and upper arm left-hand rotation Moving plate 11 fastens
Connection, wirerope pipe 1 and 2 35 other end of wirerope pipe are fixed on rope and drive on support base 37, and rope drives support base 37 and passes through spiral shell
Nail be fixed on rope drive fixing seat 48 on, wirerope 1, wirerope 2 32 by be fixed on driver rope drive wheel disc 40 on two
A 39 inner hole of stomata screw is wound on driver rope and drives on wheel disc 40, and wheel disc 40 is driven by steel wire clamp 38 and driver rope in end
It is fastenedly connected.Wirerope 1 and 2 32 top-bottom cross of wirerope arrangement.
As shown in fig. 7, driver of the invention is series elastic driver, the series elastic driver includes: flexibility
Drive module 41, rotary encoder 42, encoder fixing piece 43, driver supporting element 44, driver support base 45, driver is solid
Determine pedestal 46, the fixed corner fittings 47 of square steel.
Wherein flexible drive module 41 includes servo motor, inner sleeve, outer sleeve, Hookean spring and four trouble spring connections
Part, wherein servo motor end carries motor encoder, and servo motor is fastenedly connected with inner sleeve, and servo motor output shaft passes through
Shaft coupling is fastenedly connected with rotary encoder 42, and the servo motor other end drives wheel disc 40 with driver rope and is fastenedly connected, servo electricity
Machine can relative flexibility drive module 41 outer sleeve rotation, rotary encoder 42 passes through encoder fixing piece 43 and flexible drive mould
The outer sleeve of block 41 is fastenedly connected, and 41 level of flexible drive module is put, and flexible drive module 41 passes through driver supporting element 44
It is fastenedly connected with driver support base 45, driver firm banking 46 is fastenedly connected by screw with driver support base 45, is driven
Dynamic device support base 45 drives fixing seat 48 with rope and is fastenedly connected by the fixed corner fittings 47 of square steel.
The control device III receives the motor of hollow shaft encoder 19, rotary encoder 42 and flexible drive module 41
The signal of encoder, and control servo motor operating and the rotation amplitude of flexible drive module 41.
When the portable rope of the present embodiment drives the work of elbow joint exoskeleton robot: first by I device of elbow joint ectoskeleton
It is worn on the arm of people, is fixed by upper arm inner sleeve 4, forearm inner sleeve 28 and elastoplast.When 41 work of flexible drive module
When making, driver rope can be driven to drive wheel disc 40 and rotated, ectoskeleton driving is realized by wirerope 1 and 2 32 transition of wirerope
Wheel disc 30 rotates, and then ectoskeleton and patient's arm is driven to carry out flexion and extension, realizes healing and training elbow joint function and all kinds of
Assist function.
Specific driving work are as follows: when servo motor rotates forward in flexible drive module 41, driver rope is driven to drive wheel disc
40 rotate clockwise, since wirerope 1 and 2 32 both ends of wirerope are separately fixed at driver rope and drive wheel disc 40 and ectoskeleton
It drives on wheel disc 30, generates pulling force on wirerope 1, so that ectoskeleton driving wheel disc 30 be driven to rotate counterclockwise, realize that elbow closes
Save the flexion of ectoskeleton I.The encoder carried by servo motor in flexible drive module 41 measures motor shaft and watches relatively
The decrement that the amount of spin and rotary encoder 42 for taking motor measure 41 contained spring of flexible drive module, which is realized, drives flexibility
The power of dynamic model block 41 controls, and the hollow shaft encoder 19 for being mounted on ectoskeleton joint drives 30 phase of wheel disc by measurement ectoskeleton
The impedance control to elbow joint exoskeleton mechanism I is realized to the amount of spin of upper arm left-hand rotation Moving plate 11.
In the anteflexion of elbow joint exoskeleton mechanism I or when extending back movement, upper arm inner sleeve 4 can have one with respect to upper arm housing 2
The rotation of tentering degree, therefore cause damages when can prevent upper arm and forearm from bending and stretching in single plane and to arm, while by
During arm bending, arm front end has the sliding of certain amplitude relative to elbow joint exoskeleton mechanism I, therefore outside forearm
Setting forearm inner sleeves 28 capable of sliding back and forth, forearm inner sleeve 28 and arm fixation in set 29, can greatly reduce in this way arm because with
The opposite sliding bring damage of elbow joint exoskeleton mechanism I.
When motor reversal in flexible drive module 41, pulling force is similarly generated on wirerope 2 32, it can be achieved that elbow joint
Exoskeleton mechanism I extendes back movement.
A kind of Portable flexible elbow joint exoskeleton robot of the invention, flexible drive form can be not only used for this
The structure of elbow joint designs, and is equally applicable to the driving design of remaining each simple joint of upper limb and each simple joint of lower limb.The machine
People be not only applicable to rehabilitation medical training, be also equipped with assist function, be suitble to all kinds of carryings, in terms of application.
Claims (7)
1. a kind of Portable flexible elbow joint exoskeleton robot, it is characterised in that: including elbow joint exoskeleton mechanism, driving machine
Structure and control device；
The elbow joint exoskeleton mechanism includes upper arm supporting mechanism, main drive gear and forearm supporting mechanism, the upper arm
Supporting mechanism includes two upper arm support plates, upper arm housing and the upper arm inner sleeve for fixing arm upper arm, and upper arm housing is by two
The upper arm support plate of side, which is composed of a fixed connection, can place the space of arm upper arm, and upper arm inner sleeve is rotatable to be set to upper arm housing
Inside, upper arm inner sleeve can be around the central axis rotations of upper arm housing；The forearm supporting mechanism includes two forearm support plates, forearms
Housing and for fixing the brachiocubital forearm inner sleeve of hand, the forearm support plate of two sides is composed of a fixed connection by the forearm housing can
To place the brachiocubital space of hand, be sheathed in forearm on the inside of forearm housing, forearm inner sleeve opposite can slide back and forth with it is preceding
Arm housing is connected, and described two upper arm support plates are connected with two forearm support plates by main drive gear；
The main drive gear includes two upper arm turntables, two forearm turntables and hollow shaft encoder, described two upper arm
Respectively with two forearm turntables by two support axis connections, upper arm turntable and forearm turntable can revolve turntable around corresponding support shaft
Turn, the hollow shaft encoder is connected with one of them of two support shafts, and two upper arm turntables are supported with two upper arm respectively
Plate is fixedly linked, and two forearm turntables are fixedly linked with two forearm support plates respectively；It is fixed respectively on the inside of two upper arm turntables
Equipped with an arc groove guide rail, upper arm inner sleeve lower part both ends be respectively equipped with arc groove guide rail cooperation arc shaped slider, two
One in a forearm turntable outside, which is equipped with, to be fixedly linked and coaxial ectoskeleton driving wheel disc, the ectoskeleton driving wheel disc with
The output end of driving mechanism is connected；The signal access control apparatus of the hollow shaft encoder detection, the control device control
Driving mechanism drives ectoskeleton driving wheel disc spins, so that two forearm support plates of driving are revolved relative to two upper arm support plates
Turn, and then drives elbow joint exoskeleton mechanism arm motion.
2. a kind of Portable flexible elbow joint exoskeleton robot according to claim 1, it is characterised in that: the driving machine
Structure includes that rope driving transmission mechanism, driver and rope drive fixing seat, and the rope driving transmission mechanism drives V including two wirerope, rope
Type supporting block, two wirerope pipes, rope drive support base and driver rope drives wheel disc, and the both ends of two wirerope are separately fixed at outer
Bone drives wheel disc and driver rope to drive different location on wheel disc, and two wirerope are arranged in a crossed manner, and two wirerope pipes cover respectively
On two wirerope, one end of two wirerope pipes is driven V-type supporting block by rope and is pressed abd fixed on upper arm turntable, two steel
The other end of cord pipe is fixed on rope by spool set and drives on support base；The driver is series elastic driver, the drive
Dynamic device rope drives wheel disc and is connected with the output end of series elastic driver, and the encoder in the series elastic driver detects signal
Also access control apparatus, the control device provide power supply, control output end rotation and the rotational steps of series elastic driver；
The rope drives support base and series elastic driver is each attached to rope and drives in fixing seat.
3. a kind of Portable flexible elbow joint exoskeleton robot according to claim 2, it is characterised in that: the arc is sliding
Block is I-shaped sliding block, is equipped with arc shaped slider locating part, arc shaped slider locating part upper edge on the inside of the arc groove guide rail
It is stuck in the central slot of I-shaped sliding block, distance is less than work between arc shaped slider locating part both ends and arc groove guide rail another side
Font slider bottom width.
4. a kind of Portable flexible elbow joint exoskeleton robot according to claim 3, it is characterised in that: before described two
It is respectively equipped with the direction linear guide parallel with forearm housing on the inside of arm housing, being equipped in described two linear guides can front and back
The line slideway auxiliary of sliding, described two line slideway auxiliaries are connected with forearm inner sleeve both sides respectively.
5. a kind of Portable flexible elbow joint exoskeleton robot according to claim 4, it is characterised in that: the upper arm turns
Disk is fixed to the support shaft connection, and support shaft passes through rib bearing with forearm turntable and is connected, and support shaft is close to forearm turntable one
End is equipped with jump-ring slot, the circlip moved axially equipped with anti-stop edge bearing relative to support shaft in the jump-ring slot.
6. a kind of Portable flexible elbow joint exoskeleton robot according to claim 5, it is characterised in that: the upper arm turns
The disk inside opposite with corresponding forearm turntable is respectively equipped with arc-shaped limit block, and arc limits on the upper arm turntable and forearm turntable
Position block is staggered, and limits upper arm turntable and forearm turntable relative rotation angle by arc-shaped limit block.
7. a kind of Portable flexible elbow joint exoskeleton robot according to claim 5, it is characterised in that: two bar steel
One end of cord is respectively equipped with socket cap, and the socket cap of two wirerope passes through stomata screw respectively and drives wheel disc phase with ectoskeleton
Even upper and lower position is fixedly linked, and the other end of two wirerope is respectively equipped with steel wire clamp, the steel wire card of two steel cord ends
Head drives wheel disc upper and lower position with driver rope by stomata screw respectively and is fixedly linked.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611015755.4A CN106393073B (en) | 2016-11-18 | 2016-11-18 | A kind of Portable flexible elbow joint exoskeleton robot |
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| CN201611015755.4A CN106393073B (en) | 2016-11-18 | 2016-11-18 | A kind of Portable flexible elbow joint exoskeleton robot |
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| CN106393073B true CN106393073B (en) | 2018-12-14 |
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| CN107049704A (en) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | A kind of flexible upper limbs ectoskeleton of auxiliary power |
| CN107397647B (en) * | 2017-06-23 | 2019-10-01 | 上海理工大学 | Elbow joint power-assisted training device |
| CN107469297A (en) * | 2017-09-15 | 2017-12-15 | 南京鼎世医疗器械有限公司 | A kind of creeping exerciser and its application method |
| CN107510574A (en) * | 2017-09-20 | 2017-12-26 | 清华大学 | A kind of liquid metal ectoskeleton joint |
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| CN108818559A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of myoarchitecture of emulated robot |
| CN109289166B (en) * | 2018-11-29 | 2020-09-15 | 上海市第十人民医院 | Medical elbow joint rehabilitation training device |
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| CN110281222B (en) * | 2019-07-30 | 2022-08-19 | 烟台科宇机器人科技有限公司 | Joint movement device of exoskeleton robot |
| CN111281741B (en) * | 2020-02-26 | 2022-05-31 | 南京邮电大学 | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types |
| CN111805574B (en) * | 2020-05-25 | 2022-11-04 | 南京航空航天大学 | Wearable rope-driven mechanical arm system |
| CN111743731B (en) * | 2020-07-06 | 2022-03-25 | 中南大学湘雅医院 | Elbow joint function rehabilitation device |
| CN111590551B (en) * | 2020-07-07 | 2022-12-02 | 黄河科技学院 | Self-locking and self-unlocking mechanical device |
| CN111803329B (en) * | 2020-07-17 | 2022-05-24 | 哈尔滨工业大学 | Elbow exoskeleton for rehabilitation robot |
| CN111904791B (en) * | 2020-08-12 | 2023-08-22 | 威海经济技术开发区天智创新技术研究院 | Skin deformation compensation structure of lower limb rehabilitation instrument |
| CN111991190B (en) * | 2020-09-08 | 2022-06-28 | 太原量标医疗科技有限责任公司 | Combined inertial power assisted joint flexion and extension moving device |
| CN112426703A (en) * | 2020-11-10 | 2021-03-02 | 刘官妮 | Upper limb rehabilitation exoskeleton based on space gravity balance |
| CN113183119B (en) * | 2021-02-26 | 2022-05-31 | 北京大学 | Wearable lower limb exoskeleton robot based on rope-driven redundant flexible driver |
| CN114102556B (en) * | 2021-10-27 | 2024-05-10 | 北京机械设备研究所 | Wearing device |
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