CN101829003B - Exoskeleton-type upper limb rehabilitation robot - Google Patents
Exoskeleton-type upper limb rehabilitation robot Download PDFInfo
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- CN101829003B CN101829003B CN 201010174806 CN201010174806A CN101829003B CN 101829003 B CN101829003 B CN 101829003B CN 201010174806 CN201010174806 CN 201010174806 CN 201010174806 A CN201010174806 A CN 201010174806A CN 101829003 B CN101829003 B CN 101829003B
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Abstract
The invention relates to a rehabilitation robot, in particular to an exoskeleton-type upper limb rehabilitation robot, which realizes the upper limb rehabilitation by assisting shoulder blades of the body in rotation. The exoskeleton-type upper limb rehabilitation robot comprises an upper arm part, an upper arm forward bending assisting part, an upper arm external expansion assisting part, a shoulder blade rotation assisting part, a transmission part and a bracket part and is characterized in that the diameter of a forward bending driving wheel of the transmission part is twice that of a driving wheel; the diameter of an external expansion driving wheel is twice that of the driving wheel; and a weight wheel, the forward bending driving wheel and the external expansion driving wheel are all provided with positioning devices. The exoskeleton-type upper limb rehabilitation robot follows a 2-1 principle of driving shoulder blades by the upper limb in human body articular kinesiology, makes the mechanical upper arms assist the shoulder blades in rotation according to the 2-1 principle when assisting the upper arms of the user in bending forward or extending by assisting the shoulder blades of the human body and can more scientifically carry out rehabilitation training of the upper limb of a patient.
Description
Technical field
The present invention relates to a kind of healing robot, particularly a kind of dermaskeleton type upper limb rehabilitation robot that rotates to realize upper limb healing by power-assist human body scapula.
Background technology
Human upper arm rotates according to a certain percentage doing anteflexion or during abduction exercise, driving scapula in certain scope.If the position that the mankind's upper arm is placed with natural plummet is benchmark, upper arm is anteflexion or the corner of abduction exercise when being no more than 30 °, and scapula can not done any rotatablely moving by drive.After in case upper arm is anteflexion or the corner of abduction exercise surpasses 30 °, 2 ° of the every anteflexion or abductions of upper arm, 1 ° of scapula rotation, the 2-1 rule of the famous related scapula motion of upper arm that Here it is.Anteflexion and the abduction exercise of upper arm occurs in respectively in two mutually orthogonal planes, no matter but be anteflexion motion or abduction exercise, scapula all the time in being parallel to the plane of abduction exercise, rotates by the 2-1 rule.Rotatablely moving of scapula is to realize with the relevant muscle of scapula by connecting the upper arm humerus.When illness such as generation apoplexy, hemiplegia, muscular paralysis, can cause the contractile function forfeiture of the muscle that drives the scapula motion, thereby the ability of the related scapula motion of upper arm has just been lost also.At this moment if order about upper arm by force and do anteflexion or abduction exercise, the muscle that links to each other between humerus and the scapula can be pulled on the contrary.
The traditional therapy of upper limb healing is that the recovering physiotherapy teacher assists the patient to train by doing and illustrating, and Physical Therapist's a hands is when anteflexion or abduction patient's upper arm, and the another hands simultaneously will be by 2-1 rule rotation patient's scapula.There are problems in this method, the labor intensity that at first is the Physical Therapist is very big, training mission is heavy, there are not more time and energy to be absorbed in the analysis of clinical data and the improvement of therapeutic scheme, it is bigger that next is that the training effect is influenced by Physical Therapist's subjectivity, the most important thing is that the Physical Therapist can not guarantee accurately, enduringly that scapula rotates according to kniesiological 2-1 rule, can cause further the muscle of forfeiture contractile function so on the contrary and pull.
Existing image training robot for upper limb healing, though utilize the correlation technique of robot to alleviate Physical Therapist's burden, improved training effectiveness, but being its technology, the problem that exists do not relate to the 2-1 rule that the related scapula of upper arm moves, because the rigidity characteristics of robot might cause further the muscle of forfeiture contractile function on the contrary and pull.
Summary of the invention
For addressing the above problem, the present invention proposes a kind of dermaskeleton type upper limb rehabilitation robot, it follows the 2-1 rule of the related scapula motion of the kinematic upper arm of human synovial, allow mechanical upper arm do anteflexion or during abduction, rotate by 2-1 rule power-assist scapula at auxiliary people's upper arm by power-assist human body scapula.
For achieving the above object, the present invention is realized by following technical scheme: the present invention is a kind of dermaskeleton type upper limb rehabilitation robot, comprises upper arm parts 100, upper arm is anteflexion power-assist portion 200, abduction of the upper limb power-assist portion 300, scapula rotation power-assist portion 400, driving section 500 and cradle portion 600.Upper arm parts 100 is bound round people's upper arm and mechanical upper arm 102 flexibly by banding cover 101 and is connected together, machinery upper arm 102 is fixed on the drive 501 of the driving section 500 that is connected with the anteflexion power-assist of upper arm portion 200, upper arm is anteflexion, and power-assist portion 200 is connected in abduction of the upper limb power-assist portion 300 by horizontal guide 204, abduction of the upper limb power-assist portion 300 is fixed on the support 601 by screw rod 604 and vertical guide stem 603, scapula rotation power-assist portion 400 is fixed on the support 601 by horizontal guide 602, driving section 500 is by drive 501 and 502, thin steel rope 503 and 504, deflecting roller 507, anteflexion drive 511 and abduction drive 512 connect the anteflexion power-assist of upper arm portion 200, abduction of the upper limb power-assist portion 300 and scapula rotation power-assist portion 400, drive upper arm parts 100 and finish anteflexion/abduction exercise, the diameter of anteflexion drive 511 is 2 times of drive 501 diameters, anteflexion corner and scapula corner are pressed the rule of 1:2 and are rotated, the diameter of abduction drive 512 is 2 times of drive 502 diameters, and abduction corner and scapula corner are pressed the rule of 1:2 and rotated.
Described upper arm parts 100 mainly comprises banding cover 101 and mechanical upper arm 102, and banding cover 101 is fixed on the inboard, upper end of mechanical upper arm 102 by fixture 103.
Described upper arm is anteflexion, and power-assist portion 200 mainly comprises DC servo motor 201, ring flange 202, power transmission shaft 203, horizontal guide 204, horizontal level regulating block 205 and 206, DC servo motor 201 is fixed on the horizontal level regulating block 205 successively with ring flange 202, DC servo motor output shaft 207 is connected by marking closely screw 208 with power transmission shaft 203, horizontal guide 204 runs through horizontal level regulating block 205 and horizontal level regulating block 206, horizontal level regulating block 206 is fixed in horizontal guide 204 near an end of abduction of the upper limb power-assist portion 300 by locking nut 211, horizontal level regulating block 205 is connected in horizontal guide 204 near an end of upper arm parts 100 by marking closely screw 209, looseningly marks closely screw 209 and can move horizontally horizontal level regulating block 205 along horizontal guide 204.
Described abduction of the upper limb power-assist portion 300 mainly comprises DC servo motor 301, ring flange 302, power transmission shaft 303, horizontal guide 304 and 305, fixed block 306, horizontal level regulating block 307, plumb position regulating block 308, DC servo motor 301 is fixed on the horizontal level regulating block 307 successively with ring flange 302, DC servo motor output shaft 309 is connected with power transmission shaft 303 by marking closely screw 310, horizontal guide 304 runs through the horizontal level regulating block 206 of fixed block 306 and the anteflexion power-assist of upper arm portion 200, fixed block 306 is fixed in horizontal guide 304 near an end of cradle portion 600, horizontal level regulating block 206 is by marking closely the other end that screw 210 is connected in horizontal guide 304, loosening mark closely screw 210 and can move horizontally horizontal level regulating block 206 along horizontal guide 304, horizontal guide 305 runs through horizontal level regulating block 307 and plumb position regulating block 308, plumb position regulating block 308 is fixed in horizontal guide 305 near an end of cradle portion (600) by locking nut 312, horizontal level regulating block 307 is by marking closely the other end that screw 311 is connected in horizontal guide 305, loosening mark closely screw 311 and can move horizontally horizontal level regulating block 307 along horizontal guide 305, plumb position regulating block 308 is fixed on by locking nut 313 on the screw rod 604 of cradle portion 600, and loosening locking nut 313 can move up and down plumb position regulating block 308 along the vertical guide stem 603 of cradle portion 600 by turn adjusting nut 314.
Described scapula rotates power-assist portion 400 and mainly comprises contact disc 401, power-assist dish 402 floats, fixedly the power-assist dish 403, power transmission shaft 404, horizontal level regulating block 405, weighting distribution wheel 406, thin steel rope 407 and balancing weight 408, contact disc 401 is connected by fixture 410 and unsteady power-assist dish 402, three identical sleeves 411 fixedly have been installed on the power-assist dish 403, sleeve 411 inside are equipped with spring 412 and ball stud 413, there are three hemisphere face pits identical with ball stud 413 bulb radiuses at the back side of unsteady power-assist dish 402, the bulb of ball stud 413 correspondence respectively is installed in the hemisphere face pit, make float power-assist dish 402 and fixing 403 non-rigid connections of power-assist dish, spring 412 effects are to make individual the buffering between contact disc 401 and the human body scapula.Power transmission shaft 404 is connected with fixing power-assisted dish 403 by flat key 414, horizontal level regulating block 405 is connected with power transmission shaft 404 by bearing 417, be connected with horizontal guide 602 by marking closely screw 416, manually looseningly mark closely screw 416 horizontal adjustment piece 405 is moved horizontally along horizontal guide 602, weighting distribution wheel 406 is connected with power transmission shaft 404 by flat key 415, one end of thin steel rope 407 is wrapped in 418 li of the races of weighting distribution wheel 406, other end suspention balancing weight 408.
Described driving section 500 is made up of anteflexion drive mechanism and abduction drive mechanism, wherein anteflexion drive mechanism is mainly by drive 501, thin steel rope 503 and 505, deflecting roller 507, quill 508, stretcher 509, anteflexion drive 511 and balancing weight 513 are formed, drive 501 is connected with the power transmission shaft 203 of the anteflexion power-assist of upper arm portion 200 by flat key 210, thin steel rope 503 1 ends are connected on the drive 501, after deflecting roller 507 turns to 90 °, radially slotted eye through quill 508, stretcher 509, the other end is wrapped in 515 li of the races of anteflexion drive 511, thin steel rope 505 1 ends are wrapped in 516 li of the races of anteflexion drive 511, end suspention balancing weight 513; The abduction drive mechanism mainly is made up of drive 502, thin steel rope 504 and 506, stretcher 510, abduction drive 512 and balancing weight 514, drive 502 is connected with the power transmission shaft 303 of abduction of the upper limb power-assist portion 300 by flat key 315, thin steel rope 504 1 ends are connected on the drive 502, through stretcher 510, the other end is wrapped in 517 li of the races of abduction drive 512, thin steel rope 506 1 ends are wrapped in 518 li of the races of abduction drive 512, end suspention balancing weight 514.Stretcher 509 and 510 effect be, thin steel rope 503 and 504 in use because using when radial deformation takes place, can tighten up by its end of thread of turn.The radian of the radially slotted eye of quill 508 is 150 °, can not make thin steel rope 504 and the abduction exercise generation friction of quill 508 because of mechanical upper arm 102, thereby influences the service life of thin steel rope 504.
Described cradle portion 600 mainly is made up of support 601, horizontal guide 602, vertical guide stem 603 and screw rod 604, support 601 is frame structure, vertical vertical guide stem 603 and the screw rod 604 installed on it, the lower end of vertical guide stem 603 and screw rod 604 is fixed on the support 601 by locking nut 605, stretch out symmetrically at the two ends of support 601 on the top that horizontal guide 602 runs through support 601, fixing with fixture 606.
Described weighting distribution wheel 406, be equipped with positioner on anteflexion drive 511 and the abduction drive 512, this positioner is mainly by locating detent board 409, locating detent 419,519 and 520, fan-shaped locating piece 420,521 and 522, flat key 415 and pin 523 and 524 are formed, locating detent board 409 is fixed on the horizontal position adjustment piece 405 of scapula rotation power-assist portion 400 by fixture 421, locating detent 419,519 and 520 are individually fixed on the locating detent board 409 by fixture 422, fan-shaped locating piece 420,521 and 522 by fixture 423,525 and 526 are individually fixed in weighting distribution wheel 406, on anteflexion drive 511 and the abduction drive 512, weighting distribution wheel 406 is connected with power transmission shaft 404 by flat key 415, anteflexion drive 511 is connected with power transmission shaft 404 respectively with 524 by pin 523 with abduction drive 512, power transmission shaft 404 is provided with dead slot 424, and dead slot 424 radians are 90 °.Pin 523 and an end of 524 stretch in the dead slot 424 of power transmission shaft 404, and the other end end of thread is fixed on respectively on anteflexion drive 511 and the abduction drive 512.
The banding of described upper arm parts 100 cover 101 is made by Velcro nylon, the quill 508 of driving section 500, anteflexion drive 511 and abduction drive 512 are by the Cu alloy material manufacturing, the contact disc 401 of scapula rotation power-assist portion 400 adopts the plastic material manufacturing, and power transmission shaft 404 adopts the carbon steel material manufacturing.
The anteflexion range of movement of described mechanical upper arm and abduction exercise scope are 0-180 °.
Compared with prior art, the present invention has the following advantages: 1, training strength and training effectiveness can be guaranteed, the therapist is freed from hard work, thereby have more energy and time to be absorbed in the analysis of clinical data and the improvement of therapeutic scheme; 2, compare with existing image training robot for upper limb healing, added compliant member, it is more comfortable that the patient is used; 3, the 2-1 rule that meets the related scapula motion of human synovial kinesiology upper arm, the more rehabilitation training of upper limbs that carries out the patient of science.
Description of drawings
Fig. 1 is operation principle block diagram of the present invention;
Fig. 2 is overall three-dimensional structure diagram of the present invention;
Fig. 3 is overall three-dimensional structure diagram of the present invention;
Fig. 4 is front view of the present invention;
Fig. 5 is vertical view of the present invention;
Fig. 6 is the phantom of Fig. 5 A-A direction of the present invention;
Fig. 7 is the phantom of Fig. 5 B-B direction of the present invention;
Fig. 8 is the phantom of Fig. 5 C-C direction of the present invention;
Fig. 9 is the amplification view of weighting distribution wheel 406 of the present invention;
Figure 10 is the amplification view of the anteflexion drive 511 of the present invention;
Figure 11 is the amplification view of abduction drive 512 of the present invention.
Among the figure: 100-upper arm parts; 101-banding cover; 102-mechanical upper arm; 103-fixture; 200-upper arm is anteflexion power-assist portion; 201-DC servo motor; 202-ring flange; 203-power transmission shaft; 204-horizontal guide; 205,206-horizontal level regulating block; 207-DC servo motor output shaft; 208,209,210-mark closely screw; 211-locking nut; 212-flat key; 300-abduction of the upper limb power-assist portion; 301-DC servo motor; 302-ring flange; 303-power transmission shaft; 304,305-horizontal guide; 306-fixed block; 307-horizontal level regulating block; 308-plumb position regulating block; 309-DC servo motor output shaft; 310,311-mark closely screw; 312,313-locking nut; 314-adjusting nut; 315-flat key; 400-scapula rotation power-assist portion; 401-contact disc; 402-the power-assist dish floats; 403-fixedly power-assist dishes; 404-power transmission shaft; 405-horizontal level regulating block; 406-weighting distribution wheel; 407-thin steel rope; 408-balancing weight; 409-locating detent board; 410-fixture; 411-sleeve; 412-spring; 413-ball stud; 414,415-flat key; 416-mark closely screw; 417-bearing; 418-race; 419-locating detent; 420-fan-shaped locating piece; 421,422,423-fixture; 424-dead slot; 500-driving section; 501,502-drive; 503,504,505,506-thin steel rope; 507-deflecting roller; 508-quill; 509,510-stretcher; 511-anteflexion drive; 512-abduction drive; 513,514-balancing weight; 515,516,517,518-race; 519,520-locating detent; 521,522-fan-shaped locating piece; 523,524-pin; 525,526-fixture; 600-cradle portion; 601-support; 602-horizontal guide; 603-vertical guide stem; 604-screw rod; 605-locking nut; 606-fixture.
The specific embodiment
Below, with reference to accompanying drawing embodiments of the present invention are described.
Embodiment 1:
Referring to Fig. 1-Fig. 8, dermaskeleton type upper limb rehabilitation robot is placed on the back of people institute seat and fixing, find the center of rotation of human body scapula, regulate the height of chair, make the center of rotation of the axle center of power transmission shaft 404 and human body scapula at sustained height.Manually looseningly mark closely screw 416 and move horizontally horizontal level regulating block 405 along horizontal guide 602, the axle center of power transmission shaft 404 is overlapped with the center of rotation of human body scapula, tighten up and mark closely screw 416, make people's scapula be entrenched in the concave surface of contact disc 401, with flexible strip the people is fixed on the chair then.Equally, the loosening screw 209,210 and 311 of marking closely, regulate the horizontal level of horizontal level regulating block 205,206 and 307, loosening locking nut 313 is regulated the plumb position of plumb position regulating block 308 by turn adjusting nut 314, guarantee the axis of power transmission shaft 303 by human body head of humerus center of rotation, simultaneously mechanical upper arm 102 and human body upper arm are fixed together with banding cover 101.
The position of each parts is initial position when sagging naturally with the human body upper arm, and upper arm this moment corner anteflexion or abduction is 0 °.Referring to Fig. 9, Figure 10 and Figure 11, weighting distribution wheel 406 is connected with power transmission shaft 404 by flat key 415, and weighting distribution wheel 406 rotates synchronously with power transmission shaft 404.During initial position, the fan-shaped locating piece 420 on the weighting distribution wheel 406 contacts with the locating surface of locating detent 419, stops weighting distribution wheel 406 to drive power transmission shaft 404 and rotates along the torque direction that balancing weight 408 generates under its action of gravity.In like manner, on the anteflexion drive 511 with abduction drive 512 on fan-shaped locating piece 521 contact with 520 locating surface with locating detent 519 respectively with 522, stop anteflexion drive 511 and abduction drive 512 to rotate along the torque direction that balancing weight 513 and 514 generates under its action of gravity.
When mechanical upper arm 102 drive people's upper arm was done anteflexion motion, drive 501 drove thin steel ropes 503 and rotates around the axis of the anteflexion power-assist of upper arm portion 200 power transmission shafts 203.Thin steel rope 503 turns to 90 ° through deflecting roller 507, drives anteflexion drive 511 and rotates along the opposite direction of the torque direction that generates under its action of gravity with balancing weight 513.Drive 501 is 1:2 with the diameter ratio of anteflexion drive 511, when mechanical upper arm 102 drive drives 501 rotate 2 °, thin steel rope 503 drives anteflexion drive 511 and rotates 1 °, and anteflexion drive 511 drives power transmission shaft 404 by pin 523 and rotates 1 °, rotates 1 ° thereby drive contact disc 401.People's scapula is entrenched in the concave surface of contact disc 401, follows contact disc 401 and rotates.When mechanical upper arm 102 anteflexion corners during less than 30 °, the opposite direction of the torque direction that pin 523 on the anteflexion drive 511 generates under its action of gravity along balancing weight 513 in the dead slot 424 of power transmission shaft 404 is slided, and will can not drive power transmission shaft 404 and play rotation with one.When mechanical upper arm 102 anteflexion corners equaled 30 °, the direction that the torque direction that the pin 523 on the anteflexion drive 511 generates under its action of gravity along balancing weight 513 in the dead slot 424 of power transmission shaft 404 is opposite was slided 15 °, just in time contacts with power transmission shaft 404.When mechanical upper arm 102 anteflexion corners during greater than 30 °, the pin 523 on the anteflexion drive 511 begins to drive power transmission shaft 404 and therewith rotates synchronously in the same way, and weighting distribution wheel 406 also was transmitted axle 404 by flat key 415 and drove in the same way and rotate synchronously this moment.Abduction drive 512 is motionless with respect to support 601 in this process, and pin 524 slides in the dead slot 424 of power transmission shaft 404.When mechanical arm 102 anteflexion corners equaled 180 °, anteflexion drive 511 turned over 90 °, and power transmission shaft 404 turns over 75 ° with respect to abduction drive 512.When mechanical arm 102 was transferred return, anteflexion drive 511 rotated return along the torque direction that balancing weight 513 generates under action of gravity, and fan-shaped locating piece 521 is followed anteflexion drive 511 and got back to initial position, contacts with the locating surface of locating detent 519.Weighting distribution wheel 406 drives power transmission shaft 404 return under balancing weight 408 actions of gravity, and fan-shaped locating piece 420 is followed weighting distribution wheel 406 and got back to initial position, contacts with the locating surface of locating detent 419.
When mechanical upper arm 102 drive people's upper arm was done abduction exercise, drive 502 drove thin steel ropes 504 and rotates around the axis of the power transmission shaft 303 of abduction of the upper limb power-assist portion 300.The thin steel rope 504 drive abduction drives 512 edges direction opposite with the torque direction that balancing weight 514 generates under its action of gravity rotated.Its operation principle is identical with anteflexion motion, and difference is that in this process, the pin 524 on the abduction drive 512 drives power transmission shaft 404 and rotates, and anteflexion drive 511 is motionless with respect to support 601.
Embodiment 2:
Illness all takes place in people's both sides upper limb body, in the time of need carrying out rehabilitation simultaneously to the both sides limbs, can dermaskeleton type upper limb rehabilitation device of the present invention be installed in the lateral symmetry of support 601, and its operation principle is identical with embodiment 1 with implementation process.
Claims (5)
1. a dermaskeleton type upper limb rehabilitation robot comprises upper arm parts (100), upper arm is anteflexion power-assist portion (200), and abduction of the upper limb power-assist portion (300), scapula rotation power-assist portion (400), driving section (500) and cradle portion (600) is characterized in that,
Described upper arm parts (100) comprising: banding cover (101) and mechanical upper arm (102), banding cover (101) is fixed on the inboard, upper end of mechanical upper arm (102) by fixture (103), and upper arm parts (100) is bound round people's upper arm and mechanical upper arm (102) flexibly by banding cover (101) and connected together;
Described upper arm is anteflexion, and power-assist portion (200) comprising: DC servo motor A(201), ring flange A(202), power transmission shaft A(203), horizontal guide A(204), horizontal level regulating block A(205) and horizontal level regulating block B(206); Described DC servo motor A(201) by ring flange A(202) be fixed on horizontal level regulating block A(205) on, the output shaft of DC servo motor A (207) and power transmission shaft A(203) by marking closely screw A(208) be connected, horizontal guide A(204) run through horizontal level regulating block A(205) and horizontal level regulating block B(206), horizontal level regulating block B(206) by locking nut A(211) be fixed in horizontal guide A(204) near an end of abduction of the upper limb power-assist portion (300), horizontal level regulating block A(205) by marking closely screw B(209) be connected in horizontal guide A(204) near an end of upper arm parts (100), the loosening screw B(209 of marking closely) can be along horizontal guide A(204) move horizontally horizontal level regulating block A(205);
Described abduction of the upper limb power-assist portion (300) comprising: DC servo motor B(301), ring flange B(302), power transmission shaft B(303), horizontal guide B(304), horizontal guide C(305), fixed block (306), horizontal level regulating block C(307) and plumb position regulating block (308); Described DC servo motor B(301) by ring flange B(302) be fixed on horizontal level regulating block C(307) on, the output shaft of DC servo motor B (309) is by marking closely screw D(310) with power transmission shaft B(303) be connected, horizontal guide B(304) runs through the horizontal level regulating block B(206 of fixed block (306) and the anteflexion power-assist of upper arm portion (200)), fixed block (306) is fixed in horizontal guide B(304) near an end of cradle portion (600), horizontal level regulating block B(206) by marking closely screw C(210) be connected in horizontal guide B(304) the other end, the loosening screw C(210 of marking closely) can be along horizontal guide B(304) move horizontally horizontal level regulating block B(206), horizontal guide C(305) run through horizontal level regulating block C(307) and plumb position regulating block (308), plumb position regulating block (308) is by locking nut B(312) be fixed in horizontal guide C(305) near an end of cradle portion (600), horizontal level regulating block C(307) by marking closely screw E(311) be connected in horizontal guide C(305) the other end, the loosening screw E(311 of marking closely) can be along horizontal guide C(305) move horizontally horizontal level regulating block C(307), plumb position regulating block (308) is by locking nut C(313) and adjusting nut (314) be fixed on the screw rod (604) of cradle portion (600) loosening locking nut C(313) can move up and down plumb position regulating block (308) along the vertical guide stem (603) of cradle portion (600) by turn adjusting nut (314);
Described scapula rotation power-assist portion (400) comprising: contact disc (401), the power-assist dish (402) that floats, fixedly power-assist dish (403), power transmission shaft C(404), horizontal level regulating block D(405), weighting distribution wheel (406), thin steel rope A(407) and balancing weight A(408); Contact disc (401) is by fixture B(410) be connected with unsteady power-assist dish (402), fixedly on the power-assist dish (403) three identical sleeves (411) have been installed, sleeve (411) inside is equipped with spring (412) and ball stud (413), there are three hemisphere face pits identical with ball stud (413) bulb radius at the back side of unsteady power-assist dish (402), the bulb of ball stud (413) correspondence respectively is installed in the hemisphere face pit, make float power-assist dish (402) and fixing non-rigid connection of power-assist dish (403), power transmission shaft C(404) by flat key C(414) be connected with fixing power-assist dish (403), horizontal level regulating block D(405) by bearing (417) and power transmission shaft C(404) be connected, by marking closely screw F(416) with horizontal guide D(602) be connected, manually become flexible and mark closely screw F(416) can make horizontal level regulating block D(405) along horizontal guide D(602) move horizontally, weighting distribution wheel (406) is by flat key D(415) with power transmission shaft C(404) be connected, thin steel rope A(407) a end is wrapped in the race A(418 of weighting distribution wheel (406)) lining, other end suspention balancing weight A(408);
Described driving section (500) is made up of anteflexion drive mechanism and abduction drive mechanism, and wherein anteflexion drive mechanism comprises drive A(501), thin steel rope B(503), thin steel rope D(505), deflecting roller (507), quill (508), stretcher A(509), anteflexion drive (511) and balancing weight B(513); Drive A(501) by flat key A(212) with the power transmission shaft A(203 of the anteflexion power-assist of upper arm portion (200)) be connected, thin steel rope B(503) end is connected in drive A(501) on, after deflecting roller (507) turns to 90 °, radially slotted eye, stretcher A(509 through quill (508)), the other end is wrapped in the race B(515 of anteflexion drive (511)) lining, thin steel rope D(505) end is wrapped in the race C(516 of anteflexion drive (511)) lining, end suspention balancing weight B(513); The abduction drive mechanism comprises drive B(502), thin steel rope C(504), thin steel rope E(506), stretcher B(510), abduction drive (512) and balancing weight C(514); The drive B(502 of abduction drive mechanism) by flat key B(315) with the power transmission shaft B(303 of abduction of the upper limb power-assist portion (300)) be connected, thin steel rope C(504) end is connected in drive B(502) on, through stretcher B(510), the other end is wrapped in the race D(517 of abduction drive (512)) lining, thin steel rope E(506) end is wrapped in the race E(518 of abduction drive (512)) lining, end suspention balancing weight C(514);
Driving section (500) is by drive A(501) and drive B(502), thin steel rope B(503) and thin steel rope C(504), deflecting roller (507), anteflexion drive (511), abduction drive (512) be connected the anteflexion power-assist of upper arm portion (200), abduction of the upper limb power-assist portion (300) and scapula and rotate power-assist portion (400), drive upper arm parts (100) is finished anteflexion/abduction exercise;
Described cradle portion (600) comprising: support (601), horizontal guide D(602), vertical guide stem (603) and screw rod (604); Support (601) is frame structure, vertical is installed vertical guide stem (603) and screw rod (604) on it, the lower end of vertical guide stem (603) and screw rod (604) is by locking nut D(605) be fixed on the support (601), horizontal guide D(602) stretch out symmetrically at the two ends of support (601) on the top of running through support (601), uses fixture H(606) fixing;
Described mechanical upper arm (102) is fixed on drive A(501) on, drive A(501) by flat key A(212) and power transmission shaft A(203) be connected;
The diameter of described anteflexion drive (511) is drive A(501) 2 times of diameter, anteflexion corner and scapula corner are pressed the rule of 2:1 and are rotated, the diameter of described abduction drive (512) is drive B(502) 2 times of diameter, abduction corner and scapula corner are pressed the rule of 2:1 and are rotated;
Upper arm is anteflexion power-assist portion (200) is by horizontal guide A(204) be connected in abduction of the upper limb power-assist portion (300), abduction of the upper limb power-assist portion (300) is fixed on the support (601) by screw rod (604) and vertical guide stem (603), and scapula rotation power-assist portion (400) is by horizontal guide D(602) be fixed on the support (601).
2. dermaskeleton type upper limb rehabilitation robot according to claim 1 is characterized in that, the anteflexion range of movement of mechanical upper arm and abduction exercise scope are 0-180 °.
3. dermaskeleton type upper limb rehabilitation robot according to claim 1 is characterized in that, the banding cover (101) of described upper arm parts (100) is made by Velcro nylon.
4. dermaskeleton type upper limb rehabilitation robot according to claim 1 is characterized in that, the contact disc (401) of described scapula rotation power-assist portion (400) adopts plastic material manufacturing, power transmission shaft C(404) manufacturing of employing carbon steel material.
5. dermaskeleton type upper limb rehabilitation robot according to claim 1 is characterized in that, the quill (508) of described driving section (500), anteflexion drive (511) and abduction drive (512) are by the Cu alloy material manufacturing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010174806 CN101829003B (en) | 2010-05-18 | 2010-05-18 | Exoskeleton-type upper limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010174806 CN101829003B (en) | 2010-05-18 | 2010-05-18 | Exoskeleton-type upper limb rehabilitation robot |
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| CN101829003A CN101829003A (en) | 2010-09-15 |
| CN101829003B true CN101829003B (en) | 2013-08-14 |
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| KR101523014B1 (en) * | 2014-04-24 | 2015-05-26 | 한국과학기술연구원 | Apparatus for supporting a muscular strength and a kit having the same |
| CN105520819B (en) * | 2014-10-24 | 2018-07-20 | 青岛世纪杰创医疗科技有限公司 | A kind of exoskeleton-type shoulder girdle cooperates with healing robot with upper limb |
| KR102384150B1 (en) * | 2015-11-04 | 2022-04-08 | 삼성전자주식회사 | A joint assembly and a motion assist apparatus comprising thereof |
| FR3046052B1 (en) * | 2015-12-24 | 2020-11-20 | Sagem Defense Securite | UPPER BODY MODULE FOR AN EXOSKELETON STRUCTURE |
| TWI600421B (en) * | 2016-01-05 | 2017-10-01 | 國立成功大學 | Shoulder joint rehabilitation assistive device |
| CN108818618B (en) * | 2018-06-29 | 2020-07-10 | 华中科技大学 | Rehabilitation robot arm gravity balancing device |
| JP7247572B2 (en) * | 2018-12-17 | 2023-03-29 | 京セラドキュメントソリューションズ株式会社 | Control device |
| CN110123582B (en) * | 2019-05-31 | 2021-08-06 | 北京工业大学 | Robot for rehabilitation therapy of scapula |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101181177A (en) * | 2007-11-28 | 2008-05-21 | 华中科技大学 | Device for healing and training shoulder joint |
| CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7862524B2 (en) * | 2006-03-23 | 2011-01-04 | Carignan Craig R | Portable arm exoskeleton for shoulder rehabilitation |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101181177A (en) * | 2007-11-28 | 2008-05-21 | 华中科技大学 | Device for healing and training shoulder joint |
| CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
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| CN101829003A (en) | 2010-09-15 |
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