CN102258411B - Cable control type upper limb function training robot arm - Google Patents

Cable control type upper limb function training robot arm Download PDF

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Publication number
CN102258411B
CN102258411B CN 201110112069 CN201110112069A CN102258411B CN 102258411 B CN102258411 B CN 102258411B CN 201110112069 CN201110112069 CN 201110112069 CN 201110112069 A CN201110112069 A CN 201110112069A CN 102258411 B CN102258411 B CN 102258411B
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CN
China
Prior art keywords
joint
elbow joint
shoulder joint
mobile jib
elbow
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Application number
CN 201110112069
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Chinese (zh)
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CN102258411A (en
Inventor
喻洪流
易金花
简卓
顾余辉
赵展
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上海理工大学
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Priority to CN 201110112069 priority Critical patent/CN102258411B/en
Publication of CN102258411A publication Critical patent/CN102258411A/en
Application granted granted Critical
Publication of CN102258411B publication Critical patent/CN102258411B/en

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Abstract

The invention relates to a cable control type upper limb function training robot arm. An elbow joint is connected with a shoulder joint through an elbow joint U-shaped device; the shoulder joint is connected with a main rod by a shoulder joint U-shaped device and a scapula device; an elbow joint shaft passes through and is connected with the front part of a large arm rod in the elbow joint U-shaped device and is sleeved with an elbow joint roller which is fixedly connected with the elbow joint U-shaped device; a shoulder joint roller is connected in the shoulder joint U-shaped device; a shoulder joint shaft passes through and is connected with the scapula device and fixedly connected with an elbow joint large guide wheel; shoulder joint left-upper and right-upper guide wheels and shoulder joint left-lower and right-lower guide wheels are arranged in the scapula device respectively; the scapula device is connected with a main rod frame through an intermediate main rod shaft; the main rod shaft is fixedly connected with a main rod roller; four main rod guide wheels are arranged at the rear end of the main rod frame respectively; and two main rod guide wheels are arranged at the lower end of the main rod frame. The cable control type upper limb function training robot arm can ensure that arms are far away from a motor so as to finish the movement that the motor drives a steel wire rope and then the steel wire rope drives various joints, and can also conveniently convert the functional rehabilitation training of left and right arms.

Description

Cable control type upper limb function training robot arm
Technical field
The present invention relates to a kind of upper limb disorder device for healing and training, especially a kind ofly be applied to the upper limb disorder rehabilitation training that cerebral apoplexy causes (comprising the neural rehabilitation of upper extremity function); Also can be applied to the upper limb disorder rehabilitation training machinery arm that brain paralysis, wound, diabetes etc. cause.
Background technology
Cerebral apoplexy survival patient is numerous, and wherein hemiplegia, locomotor activity forfeiture are topmost sequelae.Nearly 85% patient is damaged with upper extremity function for post-stroke, the recovery problem of research post-stroke upper extremity function had become the most challenging problem in the clinical rehabilitation field to 55-75% patient in them still with upper limb disorder in 3-6 month after morbidity.
Domestic and international electronic upper limb healing arm is all generally that motor is arranged on joint at present, so not only attractive in appearance not, also often bring noise to the patient, the arm volume that the while motor causes increases also can bring pressure at heart to the patient, in addition, general electronic upper limb healing arm can only carry out the single armed rehabilitation training, can not allow both arms have handicapped patient that arm is trained respectively, greatly reduces the application efficiency of product.Thereby research and develop all Novel rehabilitation training systems of that can use, upper limb disorder that have light new structure of a kind of left and right arm, also significant to innovation and the industry development of raising patients with cerebral apoplexy upper limb disorder rehabilitation outcome, promotion rehabilitation training of upper limbs equipment.
Summary of the invention
The present invention is placed in order to overcome motor the inconvenience that joint causes, and provide a kind of cable control type upper limb function training robot arm, this mechanical arm utilizes steel wire rope that motor and arm are connected together, pass through motor, control the motion in each joint, so not only make motor break away from mechanical arm, the motion that can keep again elbow joint and shoulder joint makes whole upper limb healing machinery arm look small and exquisite, light.
the technical solution adopted for the present invention to solve the technical problems is: a kind of cable control type upper limb function training robot arm, comprise elbow joint, shoulder joint, mobile jib, motor, steel wire rope is characterized in: elbow joint is rotationally connected by elbow joint U-shaped device and shoulder joint, and shoulder joint is rotationally connected by shoulder joint U-shaped device and omoplate device and mobile jib, wherein, run through with the elbow joint axle the large armed lever that connects shoulder joint in elbow joint U-shaped device anterior, be socketed with the elbow joint roller on elbow joint axle external part, and the elbow joint roller is fixedly connected with elbow joint U-shaped device, be fixedly connected with the shoulder joint roller in shoulder joint U-shaped device, and run through connection omoplate device with the shoulder joint nodal axisn, be fixedly connected with the large guide wheel of elbow joint on the shoulder joint nodal axisn, be respectively equipped with up and down shoulder joint in the omoplate device upper left, right guide wheel, with the shoulder joint bottom left, right guide wheel, the omoplate device is connected by middle mobile jib axle with the mobile jib frame, be fixedly connected with the mobile jib roller on the mobile jib axle, the mobile jib back end of frame is respectively equipped with first to fourth mobile jib guide wheel, mobile jib frame lower end is provided with a left side, right mobile jib guide wheel, steel cable is around axle joint roller, and draws by the large guide wheel of shoulder joint from axle joint roller and be connected in the circular hole that imports to after left and right guide wheel under shoulder joint the omoplate device, and leads by the first, four mobile jib guide wheel and be connected with motor below mobile jib, steel cable out imports in the circular hole of omoplate device by left and right guide wheel on shoulder joint from the shoulder joint roller, and is led by the second, three mobile jib guide wheel and be connected with motor below mobile jib, mobile jib roller steel wire rope both sides out are directly by a left side, and right mobile jib guide wheel is led and is connected with motor below mobile jib.
Elbow joint comprises front armed lever, the forearm cylinder, and front armed lever is socketed in the forearm cylinder, and fixes by nut, and the forearm cylinder is fixedly connected with by screw thread with elbow joint U-shaped device.
Be provided with a pair of taper roll bearing between elbow joint U-shaped device and elbow joint axle, the whole elbow joint of fixing with round nut on the elbow joint axle, be provided with Angle of Elbow Joint sensor boss below the elbow joint axle, be fixedly connected with two screws between elbow joint U-shaped device and elbow joint roller, be provided with a thrust bearing in the elbow joint roller; The Angle of Elbow Joint sensor is installed on elbow joint axle and Angle of Elbow Joint sensor boss, is used for determining the angular dimension of relative motion between elbow joint guide wheel and elbow joint axle.
Shoulder joint comprises that large armed lever is anterior, large armed lever rear portion, large arm cylinder, large armed lever is anterior to be fixedly connected with by screw thread with armed lever rear portion greatly, be screwed between large armed lever front portion and elbow joint axle, large armed lever is socketed in large arm cylinder, and fixes by nut, and large arm cylinder is connected by screw thread with shoulder joint U-shaped device.
Be connected by key between shoulder joint nodal axisn and shoulder joint roller, be provided with deep groove ball bearing between the large guide wheel of shoulder joint nodal axisn and elbow joint, fix whole shoulder joint with round nut on shoulder joint nodal axisn below the omoplate device, the shoulder joint nodal axisn is provided with shoulder joint angular transducer boss, the shoulder joint angular transducer is installed on shoulder joint nodal axisn and shoulder joint angular transducer boss, is used for determining the angular dimension of shoulder joint nodal axisn and the relative motion of omoplate device.
The invention has the beneficial effects as follows:
The present invention is designed to roller structure to the place that can realize joint motions, and make roller with the arm that need to drive by key or be welded together, allow motor be placed on below seat, drives roller by steel wire rope and moves, to such an extent as to control the motion in each joint.Use a large amount of guide wheels, make the cabling of steel wire rope as far as possible in arm cylinder the inside, and do not occur disturbing.Large arm, the jacket casing mode is adopted in the design of little arm, can rotate, and adopts four paws mechanism and nut to carry out the fixing of jacket casing.Therefore, the present invention not only can make arm away from motor, completes the driven by motor steel wire rope, then is driven the motion in each joint by steel wire rope, can also change easily the function rehabilitation training of left and right arm.
Description of drawings
Fig. 1 is the schematic perspective view of upper limb healing machinery arm;
Fig. 2 is the expansion plane of Fig. 1;
Fig. 3 is the partial enlarged drawing of elbow joint;
Fig. 4 is the partial enlarged drawing of shoulder joint;
Fig. 5 is along the cutaway view of A-A in Fig. 4;
Fig. 6 is the partial enlarged drawing of mobile jib part;
Fig. 7 be in Fig. 6 B to view.
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
As Fig. 1, shown in 2, cable control type upper limb function training robot arm of the present invention comprises elbow joint 31, shoulder joint 32, mobile jib 33, motor, steel wire rope, elbow joint U-shaped device 4, shoulder joint U-shaped device 12, omoplate device 14, mobile jib frame 22 etc.
Elbow joint 31 is rotationally connected by elbow joint U-shaped device 4 and shoulder joint 32, and shoulder joint 32 is rotationally connected with mobile jib 33 by shoulder joint U-shaped device 12 and omoplate device 14.
As shown in Figure 3, elbow joint 31 comprises front armed lever 1, nut 2, and forearm cylinder 3, front armed lever 1 adopts form of sleeve with forearm cylinder 3, can carry out the adjustment of length, is fixed by nut 2, and front armed lever 1 can rotate, and then changes the direction of handle.Forearm cylinder 3 is threaded connection with elbow joint U-shaped device 4, and with the anaerobic adhesive gummed, is fixed.Elbow joint axle 5 runs through elbow joint U-shaped device 4 and elbow joint roller 10, and add a pair of taper roll bearing in elbow joint U-shaped device 4, add a thrust bearing in elbow joint roller 10, with round nut, whole elbow joint is fixed by the following of elbow joint roller 10, be fixed with two screws between elbow joint U-shaped device 4 and elbow joint roller 10, guarantee that steel wire rope when driving elbow joint roller 10, also can drive the motion of forearm, and elbow joint axle 5 keeps motionless.The Angle of Elbow Joint installation of sensors is determined angular dimension by the relative motion between elbow joint guide wheel 10 and elbow joint axle 5 on elbow joint axle 5 and Angle of Elbow Joint sensor boss 9.
Shoulder joint 32 comprises large armed lever front portion 6, large armed lever rear portion 7, and nut 8, large arm cylinder 11, large armed lever anterior 6 is threaded connection with large armed lever rear portion 7, and with the anaerobic adhesive gummed, is fixed.Be screwed between large armed lever anterior 6 and elbow joint axle 5, guarantee that the motion between elbow joint axle 5 and forearm is relative motion.Large armed lever 7 adopts the sleeve mode with large arm cylinder 11, is fixed by nut 8, also can carry out the adjustment of length.
As Fig. 4, shown in 5, large arm cylinder 11 is connected by screw thread with shoulder joint U-shaped device 12, and glues together by anaerobic adhesive, add powerful arm intensity.Be fixed together by welding between shoulder joint roller 17 and shoulder joint U-shaped device 12, when guaranteeing that steel wire rope drives shoulder joint roller 17, also can drive the motion of large arm.Shoulder joint nodal axisn 13 runs through omoplate device 14, shoulder joint U-shaped device 12, shoulder joint roller 17, the large guide wheel 16 of elbow joint, and be connected by key between the shoulder joint roller, and between the large guide wheel 16 of elbow joint, deep groove ball bearing is arranged, the round nut of the activity of whole shoulder joint 32 below omoplate device 14 is fixed.The shoulder joint angular transducer is arranged on shoulder joint nodal axisn 13 and shoulder joint angular transducer boss 15, by the relative motion of shoulder joint nodal axisn 13 and omoplate device 14, determines the size of angle.The effect of the large guide wheel 16 of elbow joint is exactly that the steel wire rope that drives the elbow joint motion is guided on shoulder joint, as seen from Figure 5, two wires of being derived by the large guide wheel of elbow joint 16 are by left and right guide wheel 21 under shoulder joint, in 20 circular holes that import in omoplate device 14, drive the steel wire rope both sides of shoulder joint roller 17 by left and right guide wheel 18 on shoulder joint, in 19 circular holes that import in omoplate device 14, and four steel wire ropes are not interfere with each other.
As Fig. 6, shown in 7, omoplate device 14 is connected by middle mobile jib axle 30 with mobile jib frame 22, and mobile jib roller 23 links together by key and mobile jib axle 30, drive the motion of mobile jib roller 23 by steel wire rope, thereby drive the motion of omoplate device 14, the steel wire rope both sides of getting off from mobile jib roller 23 by mobile jib guide wheel 25 and 24 lead mobile jib below be connected with motor.Four steel wire ropes of deriving in final circular hole by omoplate device 14 are again by first to fourth mobile jib guide wheel 26,27,28,29 lead and followingly are connected with motor, the connection of steel wire rope is for leading shoulder joint 32 from axle joint roller 10 steel wire rope two limits out by the large guide wheel 16 of shoulder joint, then imported in circular hole in omoplate device 14 by left and right guide wheel 21,20 under shoulder joint, lead by the first, four mobile jib guide wheel 26,29 at last and be connected with motor below mobile jib; Import in the circular hole of omoplate device 14 by left and right guide wheel 18,19 on shoulder joint from shoulder joint roller 17 steel wire rope two limits out, finally led by the second, three mobile jib guide wheel 27,28 and be connected with motor below mobile jib; Mobile jib roller 23 steel wire rope both sides out are directly by a left side, and right mobile jib guide wheel 25,24 is led and is connected with motor below mobile jib.

Claims (5)

1. cable control type upper limb function training robot arm, comprise elbow joint (31), shoulder joint (32), mobile jib (33), motor, steel wire rope is characterized in that: described elbow joint (31) is rotationally connected by elbow joint U-shaped device (4) and shoulder joint (32), shoulder joint (32) by the U-shaped device of shoulder joint (12) and omoplate device (14), is rotationally connected with mobile jib (33) respectively, wherein, run through with elbow joint axle (5) the large armed lever anterior (6) that connects shoulder joint in elbow joint U-shaped device (4), be socketed with elbow joint roller (10) on elbow joint axle (5) external part, and elbow joint roller (10) is fixedly connected with elbow joint U-shaped device (4), be fixedly connected with shoulder joint roller (17) in shoulder joint U-shaped device (12), and run through connection omoplate device (14) with shoulder joint nodal axisn (13), be fixedly connected with the large guide wheel of elbow joint (16) on shoulder joint nodal axisn (13), be respectively equipped with up and down shoulder joint in omoplate device (14) upper left, right guide wheel (18, 19) and the shoulder joint bottom left, right guide wheel (21, 20), omoplate device (14) is connected by middle mobile jib axle (30) with mobile jib frame (22), be fixedly connected with mobile jib roller (23) on mobile jib axle (30), mobile jib frame (22) rear end is respectively equipped with first to fourth mobile jib guide wheel (26, 27, 28, 29), mobile jib frame (22) lower end is provided with a left side, right mobile jib guide wheel (25, 24), steel cable is around elbow joint roller (10), and draw by the large guide wheel of shoulder joint (16) from elbow joint roller (10) and be connected to left and right guide wheel (21 under shoulder joint, 20) import to after in the circular hole in omoplate device (14), and lead by the first, four mobile jib guide wheel (26,29) and be connected with motor below mobile jib, steel cable out imports in the circular hole of omoplate device (14) by left and right guide wheel (18,19) on shoulder joint from shoulder joint roller (17), and is led by the second, three mobile jib guide wheel (27,28) and be connected with motor below mobile jib, mobile jib roller (23) steel wire rope both sides out are directly by a left side, and right mobile jib guide wheel (25,24) is led and is connected with motor below mobile jib.
2. cable control type upper limb function training robot arm according to claim 1, it is characterized in that: described elbow joint (31) comprises front armed lever (1), forearm cylinder (3), front armed lever (1) is socketed in forearm cylinder (3), and fixing by nut (2), forearm cylinder (3) is fixedly connected with by screw thread with elbow joint U-shaped device (4).
3. cable control type upper limb function training robot arm according to claim 1, it is characterized in that: be provided with a pair of taper roll bearing between described elbow joint U-shaped device (4) and elbow joint axle (5), elbow joint axle (5) is upper with the fixing whole elbow joint (31) of round nut, be provided with Angle of Elbow Joint sensor boss (9) below elbow joint axle (5), be fixedly connected with two screws between elbow joint U-shaped device (4) and elbow joint roller (10), be provided with a thrust bearing in elbow joint roller (10); The upper Angle of Elbow Joint sensor of installing of elbow joint axle (5) and Angle of Elbow Joint sensor boss (9) is for the angular dimension of determining relative motion between elbow joint roller (10) and elbow joint axle (5).
4. cable control type upper limb function training robot arm according to claim 1, it is characterized in that: described shoulder joint comprises large armed lever anterior (6), large armed lever rear portion (7), large arm cylinder (11), large armed lever anterior (6) is fixedly connected with by screw thread with large armed lever rear portion (7), be screwed between large armed lever anterior (6) and elbow joint axle (5), large armed lever rear portion (7) is socketed in large arm cylinder (11), and fixing by nut (8), large arm cylinder (11) is connected by screw thread with shoulder joint U-shaped device (12).
5. cable control type upper limb function training robot arm according to claim 1, it is characterized in that: be connected by key between described shoulder joint nodal axisn (13) and shoulder joint roller (17), be provided with deep groove ball bearing between shoulder joint nodal axisn (13) and the large guide wheel of elbow joint (16), shoulder joint nodal axisn (13) below omoplate device (14) is upper with the fixing whole shoulder joint (32) of round nut, shoulder joint nodal axisn (13) is provided with shoulder joint angular transducer boss (15), at shoulder joint nodal axisn (13) and the upper shoulder joint angular transducer of installing of shoulder joint angular transducer boss (15), be used for determining the angular dimension of shoulder joint nodal axisn (13) and omoplate device (14) relative motion.
CN 201110112069 2011-05-03 2011-05-03 Cable control type upper limb function training robot arm CN102258411B (en)

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Application Number Priority Date Filing Date Title
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CN102258411B true CN102258411B (en) 2013-06-26

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Families Citing this family (12)

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CN103006416B (en) * 2013-01-04 2014-08-20 哈尔滨工程大学 Mechanical lower-limb rehabilitation robot walker device
CN104116612A (en) * 2014-07-03 2014-10-29 陈红卫 Elbow joint movement motivation rehabilitation apparatus
CN104287944B (en) * 2014-10-22 2016-06-08 河北工业大学 A kind of upper limb rehabilitation robot
CN106361537B (en) * 2016-08-31 2018-06-26 江苏大学 A kind of seven freedom upper limb rehabilitation robot based on combination drive
CN106667722B (en) * 2016-10-30 2018-10-09 北京工业大学 A kind of man-machine space gravity balance ectoskeleton
CN106512328A (en) * 2017-01-03 2017-03-22 上海卓道医疗科技有限公司 Planar upper limb rehabilitation training robot
CN108836731B (en) * 2018-04-08 2020-05-05 苏州好博医疗器械有限公司 Household cable-controlled mechanical arm for upper limb rehabilitation training
CN109045608B (en) * 2018-06-29 2020-11-24 泰山医学院 Hydraulic bilateral upper limb joint exercise rehabilitation training device
CN109602577A (en) * 2018-12-04 2019-04-12 雷静 One kind is bionical can the movable arm rehabilitation training device of multi-angle
CN109620647B (en) * 2019-02-01 2021-03-26 苏州好博医疗器械有限公司 Line drive upper limbs rehabilitation training arm
CN110179626B (en) * 2019-05-28 2021-02-26 山东建筑大学 Upper limb rehabilitation training device and method
CN110624209A (en) * 2019-08-13 2019-12-31 袁远 Body-building equipment, data monitoring method and device thereof and computer readable storage medium

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CN201139904Y (en) * 2007-02-01 2008-10-29 西安工业大学 Portable chest shaping and arm building device
KR200438280Y1 (en) * 2007-04-13 2008-02-04 유인조 Sport outfits for arms
CN101474121B (en) * 2008-12-26 2010-09-01 华中科技大学 Device for healing and training shoulder joint
CN202069819U (en) * 2011-05-03 2011-12-14 上海理工大学 Upper limb rehabilitation training device

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Effective date of registration: 20190725

Address after: 215431 East Building, No. 8-1 Nanhai Road, Liuhe Town, Taicang City, Jiangsu Province

Patentee after: Suzhou Haobro Medical Device Co., Ltd.

Address before: 200093 Shanghai military road, Yangpu District, No. 516

Patentee before: University of Shanghai for Science and Technology

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