CN102440853A - Wearable high-precision data acquisition upper limb exoskeleton - Google Patents
Wearable high-precision data acquisition upper limb exoskeleton Download PDFInfo
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- CN102440853A CN102440853A CN2011102767071A CN201110276707A CN102440853A CN 102440853 A CN102440853 A CN 102440853A CN 2011102767071 A CN2011102767071 A CN 2011102767071A CN 201110276707 A CN201110276707 A CN 201110276707A CN 102440853 A CN102440853 A CN 102440853A
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Abstract
The invention relates to a wearable high-precision data acquisition upper limb exoskeleton, comprising an adjustable base, a shoulder rotation pair mechanism, a shoulder slide ring mechanism, an upper arm connecting rod length sliding adjusting mechanism, an elbow parallel rotation pair mechanism, an elbow slide ring mechanism, a lower arm connecting rod length sliding adjusting mechanism, a wrist rotation pair mechanism, a tail end operation handle and a tool clamping device. A high-precision photoelectric encoder is mounted on each joint, the position and the posture of a tail end can be accurately acquired via forward kinematics, and a manipulator can be accurately controlled. The wearable high-precision data acquisition upper limb exoskeleton is compact in structure, light in weight and high in rigidity, is applicable to different operation heights and arm lengths, two control buttons are arranged on the handle to control procedures of an upper computer, and the exoskeleton further can be used as a guiding hand to be used for realizing upper limb exercise rehabilitation training of hemiplegia patients.
Description
Technical field
The present invention relates to wearable high-accuracy data acquisition upper limb ectoskeleton, both can be used for the distant operation of mechanical hand, also can be used for hemiplegic patient's upper extremity exercise rehabilitation training.
Background technology
Ectoskeleton is controlled mechanical palmistry has very big advantage than common Joystick control mode, is a kind of ideal style of the distant operation of mechanical hand.But the upper limb ectoskeleton that is used for distant operation at present both at home and abroad is generally relatively heavier, and precision is not high, and the distant operation that is used for the exigent mechanical hand of control accuracy has certain limitation.Along with modern society's aging process is accelerated, the hemiplegic patient colony that is caused by cerebro-vascular diseases also more and more causes the concern of society, and the exercise rehabilitation training of this type needs of patients science improves the motor function of Ipsilateral arm.Traditional rehabilitation training is carried out through Physical Therapist's manual guidance Ipsilateral arm, and this rehabilitation training working strength is big, and training effect and Physical Therapist's skills involved in the labour are closely related, and is difficult to satisfy the patient's requirement that increases day by day.
Summary of the invention
The purpose of this invention is to provide a kind of distant operation of mechanical hand that both had been suitable for, also be suitable for the wearable high-accuracy data acquisition upper limb ectoskeleton of hemiplegic patient by upper exercise rehabilitation training.
Wearable high-accuracy data acquisition upper limb ectoskeleton of the present invention is characterized in that comprising placed in-line successively scalable pedestal, shoulder revolute mechanism, shoulder slip ring mechanism, upper arm link length slidable adjustment mechanism, the parallel revolute of ancon mechanism, ancon slip ring mechanism, lower arm link length slidable adjustment mechanism, wrist revolute mechanism, terminal operating grip and tool holding device;
The scalable pedestal comprises column, the first attitude regulating part, the second attitude regulating part, horizontal direction regulating part and joint connector; The first attitude regulating part is that 150 ° plane constitutes by two angles; The second attitude regulating part is that 140 ° plane constitutes by two angles; The joint connector is to be made up of two blocks of parallel-plates that have chute up and down; The plane one of the first attitude regulating part links to each other through screw with column and constitutes moving sets; The plane one of the plane two and the second attitude regulating part is fixing, and the plane two of the second attitude regulating part is fixed with an end of horizontal direction regulating part, and the other end of horizontal direction regulating part is inserted in that the chute through screw and parallel-plate connects and composes moving sets between two blocks of parallel-plates of joint connector;
Shoulder revolute mechanism comprises a L type connecting rod and slip ring mechanism rod; The end of one end of the one L type connecting rod through the joint connector in bearing and the scalable pedestal links to each other and constitutes interior receipts/abduction revolute; The one L type connecting rod other end links to each other with an end of slip ring mechanism rod through bearing and constitutes the flexion/extension revolute; The axis of these two revolutes is vertical each other on same plane, on two revolutes, installs and measures first photoelectric encoder of the anglec of rotation respectively;
Shoulder slip ring mechanism comprises that from inside to outside the interior pedestal of clutch shaft bearing, first thin-wall bearing, clutch shaft bearing outer frame and first gear and three connecting rod, the first semi-circular support, first pinions and more than first with parallel axes of coaxial line device enclose absolute type encoders; The first semi-circular support links to each other with the clutch shaft bearing outer frame with the connecting rod of parallel axes through three; The other end of the slip ring mechanism rod in the top of the first semi-circular support and the shoulder revolute mechanism links to each other; The absolute type encoder of circle more than first links to each other with the outer wall of clutch shaft bearing outer frame; First pinion is fixed on the output shaft of the absolute type encoder of circle more than first, is meshed with first gear;
Upper arm link length slidable adjustment mechanism comprises two governor motions that are parallel to each other; Each governor motion is the moving sets that is connected and is constituted by the first rise pole and the first lower dolly bar chute, and the upper end symmetry that first of two governor motions raise pole is fixed on the interior pedestal of clutch shaft bearing in the shoulder slip ring mechanism;
The parallel revolute of ancon mechanism comprises two connecting rods that are parallel to each other; The upper end of two connecting rods constitutes revolute through the lower ends of two first lower dolly bars in bearing and the upper arm link length slidable adjustment mechanism respectively; The axis of two revolutes that constituted overlaps, and installs and measures second photoelectric encoder of the anglec of rotation therein on revolute;
Ancon slip ring mechanism comprises that from inside to outside the interior pedestal of second bearing, second thin-wall bearing, the second bearing outer frame and second largest gear and three connecting rod, second semi-circular bracket, second pinions and more than second with parallel axes of coaxial line device enclose absolute type encoders; The second semi-circular support through three with the connecting rod of parallel axes and second bearing in pedestal link to each other; The lower end symmetry of two connecting rods that are parallel to each other in the parallel revolute of the ancon mechanism is fixed on the second bearing outer frame; The absolute type encoder of circle more than second links to each other with the outer wall of the second bearing outer frame; Second pinion is fixed on the output shaft of the absolute type encoder of circle more than second, is meshed with second largest gear;
Lower arm link length slidable adjustment mechanism comprises that second raises the pole and second lower dolly bar, and both link to each other with chute through screw and constitute moving sets;
Wrist revolute mechanism comprises the 2nd L type connecting rod and handle installing connecting rods; One end of the 2nd L type bar constitutes revolute through the lower ends of second lower dolly bar in bearing and the lower arm link length slidable adjustment mechanism; The other end links to each other with the upper end of handle installing connecting rods through bearing and constitutes revolute; The axis of these two revolutes is vertical each other on same plane, on two revolutes, installs and measures the 3rd photoelectric encoder of the anglec of rotation respectively;
Terminal operating grip is fixed on the middle part of the handle installing connecting rods in the wrist revolute mechanism, and the end of terminal operating grip is equipped with two buttons that are used to control host computer procedure, the setting tool clamping device in the lower end of handle installing connecting rods.
Wearable high-accuracy data acquisition upper limb ectoskeleton of the present invention comprises 7 degree of freedom; In order to improve ectoskeletal kinematic dexterity; Through kinematics analysis to model; Can the initial angle in upper limb ectoskeleton shoulder joint be optimized, making the angle of axis of axis and the shoulder slip ring mechanism of the interior receipts/abduction revolute in the shoulder revolute mechanism is 50 °, and the angle of the axis of the parallel revolute with ancon of the axis mechanism of the flexion/extension revolute in the shoulder revolute mechanism is 30 °.
Wearable high-accuracy data acquisition upper limb ectoskeleton of the present invention is equipped with the high precision photoelectric encoder in each joint, can exact acquisition terminal position and attitude through forward kinematics solution, can realize accurate control to mechanical hand; This ectoskeleton compact conformation, in light weight, rigidity is high, can adapt to the height and the brachium of different operating, and is provided with two control knobs at handle and controls host computer procedure; This ectoskeleton also can be used as the guiding hands, is used for the hemiplegic patient by upper exercise rehabilitation training.
Description of drawings
Fig. 1 is the ectoskeletal structural representation of wearable high-accuracy data acquisition upper limb;
Fig. 2 is the sketch map of scalable pedestal;
Fig. 3 is the sketch map of shoulder revolute mechanism;
Fig. 4 is the sketch map of shoulder slip ring mechanism;
Fig. 5 is the sketch map of upper arm link length slidable adjustment mechanism;
Fig. 6 is the sketch map of the parallel revolute of ancon mechanism;
Fig. 7 is the sketch map of ancon slip ring mechanism;
Fig. 8 is the structural representation of lower arm link length slidable adjustment mechanism, wrist revolute mechanism, terminal operating grip and tool holding device.
Label title among the above-mentioned figure: 1, scalable pedestal; 2, shoulder revolute mechanism; 3, shoulder slip ring mechanism; 4, upper arm link length slidable adjustment mechanism; 5, the parallel revolute of ancon mechanism; 6, ancon slip ring mechanism; 7, lower arm link length slidable adjustment mechanism; 8, wrist revolute mechanism; 9, terminal operating grip; 10, tool holding device; 11, column; 12, the first attitude regulating part; 13, the second attitude regulating part; 14, horizontal direction regulating part; 15, joint connector; 16, the plane one of the first attitude regulating part; 17, the plane two of the first attitude regulating part; 18, the plane one of the second attitude regulating part; 19, the plane two of the second attitude regulating part; 20, a L type connecting rod; 21, receipts/abduction revolute in the shoulder; 22, shoulder flexion/extension revolute; 24, pedestal in the clutch shaft bearing; 25, first thin-wall bearing; 26, clutch shaft bearing outer frame; 27, first gear; 28, three connecting rods with parallel axes; 29, the first semi-circular support; 30, first pinion; 31, the absolute type encoder of circle more than first; 32, first raise pole; 33, first lower dolly bar; 34,35, two connecting rods that are parallel to each other; 36, pedestal in second bearing; 37, second thin-wall bearing; 38, the second bearing outer frame; 39, second largest gear; 40, three connecting rods with parallel axes; 41, second semi-circular bracket; 42, second pinion; 43, the absolute type encoder of circle more than second; 44, second raise pole; 45, second lower dolly bar; 46, the 2nd L type connecting rod; 47, handle installing connecting rods; 48, button; 2-1, first photoelectric encoder; 5-1, second photoelectric encoder; 8-1, the 3rd photoelectric encoder.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1, wearable high-accuracy data acquisition upper limb ectoskeleton comprises placed in-line successively scalable pedestal 1, shoulder revolute mechanism 2, shoulder slip ring mechanism 3, upper arm link length slidable adjustment mechanism 4, the parallel revolute of ancon mechanism 5, ancon slip ring mechanism 6, lower arm link length slidable adjustment mechanism 7, wrist revolute mechanism 8, terminal operating grip 9 and tool holding device 10; This ectoskeleton comprises 7 degree of freedom altogether, respectively with the shoulder of human upper limb in receipts/abduction, flexion/extension, medial rotation/outside revolving, ancon flexion/extension, medial rotation/revolve outer and wrist flexion/extension, interior receipts/abduction are corresponding;
With reference to Fig. 2; Scalable pedestal 1 comprises column 11, the first attitude regulating part 12, the second attitude regulating part 13, horizontal direction regulating part 14 and joint connector 15; The first attitude regulating part 12 is that 150 ° plane 16,17 constitutes by two angles; The second attitude regulating part 13 is that 140 ° plane 18,19 constitutes by two angles; Joint connector 15 is to be made up of two blocks of parallel-plates that have chute up and down; The plane 1 of the first attitude regulating part 12 links to each other through screw with column 11 and constitutes moving sets, and the plane 1 of the plane 2 17 and the second attitude regulating part 15 is fixing, and the plane 2 19 of the second attitude regulating part 13 is fixed with an end of horizontal direction regulating part 14; The other end of horizontal direction regulating part 14 is inserted in that the chute through screw and parallel-plate connects and composes moving sets between two blocks of parallel-plates of joint connector 15, can realize that respective operations person's different heights and shoulder breadth regulated.
With reference to Fig. 3; Shoulder revolute mechanism 2 comprises a L type connecting rod 20 and slip ring mechanism rod 23; The end of one end of the one L type connecting rod 20 through the joint connector 15 in bearing and the scalable pedestal 1 links to each other and constitutes interior receipts/abduction revolute 21; The one L type connecting rod 20 other ends link to each other with an end of slip ring mechanism rod 23 through bearing and constitute flexion/extension revolute 22; The axis of these two revolutes is vertical each other on same plane, on two revolutes, installs and measures the first photoelectric encoder 2-1 of the anglec of rotation respectively; Can realize that receipts/abduction, two of flexion/extensions rotatablely move in the shoulder.
With reference to Fig. 4; Comprise that the semi-circular support of the connecting rod 28, first of pedestal in the clutch shaft bearing of coaxial line device from inside to outside 24, first thin-wall bearing 25, clutch shaft bearing outer frame 26 and first gear 27 and three and parallel axes 29, first pinion 30 and more than first enclose absolute type encoders 31; The first semi-circular support 29 links to each other with clutch shaft bearing outer frame 26 with the connecting rod 28 of parallel axes through three; The other end of the slip ring mechanism rod 23 in the top of the first semi-circular support 29 and the shoulder revolute mechanism 2 links to each other; The absolute type encoder 31 of circle more than first links to each other with the outer wall of clutch shaft bearing outer frame 26; First pinion 30 is fixed on the output shaft of the absolute type encoder 31 of circle more than first, is meshed with first gear 27; Can realize the medial rotation/motion outside revolving of shoulder.
With reference to Fig. 5; Comprise two governor motions that are parallel to each other; Each governor motion is the moving sets that is connected and is constituted by the first rise pole 32 and first lower dolly bar, 33 chutes, and the upper end symmetry that first of two governor motions raise pole 32 is fixed on the interior pedestal 24 of clutch shaft bearing in the shoulder slip ring mechanism 3; Can realize that the different upper arm length of respective operations person regulates;
With reference to Fig. 6; The parallel revolute of ancon mechanism 5 comprises two connecting rods that are parallel to each other 34,35; The upper end of two connecting rods 34,35 constitutes revolute through the lower ends of two first lower dolly bars 33 in bearing and the upper arm link length slidable adjustment mechanism 4 respectively; The axis of two revolutes that constituted overlaps, and installs and measures the second photoelectric encoder 5-1 of the anglec of rotation therein on revolute; Can realize the motion of human upper limb ancon flexion/extension.
With reference to Fig. 7; Ancon slip ring mechanism 6 comprises that connecting rod 40, second semi-circular bracket 41, second pinion 42 and more than second of pedestal in second bearing of coaxial line device from inside to outside 36, second thin-wall bearing 37, the second bearing outer frame 38 and second largest gear 39 and three and parallel axes enclose absolute type encoders 43; The second semi-circular support 41 through three with the connecting rod 40 of parallel axes and second bearing in pedestal 36 link to each other; The lower end symmetry of two connecting rods that are parallel to each other 34,35 in the parallel revolute of the ancon mechanism 5 is fixed on the second bearing outer frame 38; The absolute type encoder 43 of circle more than second links to each other with the outer wall of the second bearing outer frame 38; Second pinion 42 is fixed on the output shaft of the absolute type encoder 43 of circle more than second, is meshed with second largest gear 39; Can realize the medial rotation/motion outside revolving of ancon.
With reference to Fig. 8, lower arm link length slidable adjustment mechanism 7 comprises that second raises the pole 44 and second lower dolly bar 45, and both link to each other with chute through screw and constitute moving sets; Can realize that the different following arm lengths of respective operations person regulates.
Wrist revolute mechanism 8 comprises the 2nd L type connecting rod 46 and handle installing connecting rods 47; One end of the 2nd L type bar 46 constitutes revolute through the lower ends of second lower dolly bar 45 in bearing and the lower arm link length slidable adjustment mechanism 7; The other end links to each other with the upper end of handle installing connecting rods 47 through bearing and constitutes revolute; The axis of these two revolutes is vertical each other on same plane, on two revolutes, installs and measures the 3rd photoelectric encoder 8-1 of the anglec of rotation respectively; Can realize the flexion/extension of wrist, interior receipts/abduction exercise.
Human arm can stretch into ectoskeleton inside, holds operating grip 9 foremost, drives the ectoskeleton motion.The ectoskeleton Model Optimization has improved the kinematic dexterity of staff in normal working space.Through being installed in the photoelectric encoder in each joint; Can obtain the rotational angle in each joint; These angles process forward kinematics solutions can accurately be calculated the attitude and the position of human upper limb, can realize mechanical hand or the ectoskeletal control of band driving medical rehabilitation through modes such as terminal position coupling or joint angles couplings.Two buttons on the handle can be used as the control host computer procedure switch that begins and stop or the change-over switch between the different control modes.Tool holding device can be used for the clamping different tools and come to be complementary with the end-of-arm tooling of institute's control mechanical hand, better realizes the control to mechanical hand.
Claims (2)
1. wearable high-accuracy data acquisition upper limb ectoskeleton is characterized in that comprising placed in-line successively scalable pedestal (1), shoulder revolute mechanism (2), shoulder slip ring mechanism (3), upper arm link length slidable adjustment mechanism (4), the parallel revolute of ancon mechanism (5), ancon slip ring mechanism (6), lower arm link length slidable adjustment mechanism (7), wrist revolute mechanism (8), terminal operating grip (9) and tool holding device (10);
Scalable pedestal (1) comprises column (11), the first attitude regulating part (12), the second attitude regulating part (13), horizontal direction regulating part (14) and joint connector (15); The first attitude regulating part (12) is 150 ° plane (16,17) formation by two angles; The second attitude regulating part (13) is 140 ° plane (18,19) formation by two angles; Joint connector (15) is to be made up of two blocks of parallel-plates that have chute up and down; The plane one (16) of the first attitude regulating part (12) links to each other through screw with column (11) and constitutes moving sets; Plane two (17) is fixing with the plane one (18) of the second attitude regulating part (15); The plane two (19) of the second attitude regulating part (13) is fixed with an end of horizontal direction regulating part (14), and the other end of horizontal direction regulating part (14) is inserted in that the chute through screw and parallel-plate connects and composes moving sets between two blocks of parallel-plates of joint connector (15);
Shoulder revolute mechanism (2) comprises a L type connecting rod (20) and slip ring mechanism rod (23); The end of one end of the one L type connecting rod (20) through the joint connector (15) in bearing and the scalable pedestal (1) interior receipts/abduction revolute (21) of formation that links to each other; The one L type connecting rod (20) other end links to each other with an end of slip ring mechanism rod (23) through bearing and constitutes flexion/extension revolute (22); The axis of these two revolutes is vertical each other on same plane, on two revolutes, installs and measures first photoelectric encoder (2-1) of the anglec of rotation respectively;
Shoulder slip ring mechanism (3) comprises connecting rod (28), the first semi-circular support (29), first pinion (30) of pedestal (24), first thin-wall bearing (25), clutch shaft bearing outer frame (26) and first gear (27) in the clutch shaft bearing of coaxial line device from inside to outside and three and parallel axes and encloses absolute type encoder (31) more first; The first semi-circular support (29) links to each other with clutch shaft bearing outer frame (26) with the connecting rod (28) of parallel axes through three; The other end of the slip ring mechanism rod (23) in the top of the first semi-circular support (29) and the shoulder revolute mechanism (2) links to each other; Circle absolute type encoder (31) links to each other with the outer wall of clutch shaft bearing outer frame (26) more than first; First pinion (30) is fixed on the output shaft of circle absolute type encoder (31) more than first, is meshed with first gear (27);
Upper arm link length slidable adjustment mechanism (4) comprises two governor motions that are parallel to each other; Each governor motion is the moving sets that is connected and is constituted by the first rise pole (32) and first lower dolly bar (33) chute, and the upper end symmetry that first of two governor motions raise pole (32) is fixed on the interior pedestal (24) of clutch shaft bearing in the shoulder slip ring mechanism (3);
The parallel revolute of ancon mechanism (5) comprises two connecting rods that are parallel to each other (34,35); The upper end of two connecting rods (34,35) constitutes revolute through the lower ends of two first lower dolly bars (33) in bearing and the upper arm link length slidable adjustment mechanism (4) respectively; The axis of two revolutes that constituted overlaps, and installs and measures second photoelectric encoder (5-1) of the anglec of rotation therein on revolute;
Ancon slip ring mechanism (6) comprises connecting rod (40), second semi-circular bracket (41), second pinion (42) of pedestal (36), second thin-wall bearing (37), the second bearing outer frame (38) and second largest gear (39) in second bearing of coaxial line device from inside to outside and three and parallel axes and encloses absolute type encoder (43) more second; The second semi-circular support (41) links to each other with the interior pedestal (36) of second bearing with the connecting rod (40) of parallel axes through three; The lower end symmetry of two connecting rods that are parallel to each other (34,35) in the parallel revolute of the ancon mechanism (5) is fixed on the second bearing outer frame (38); Circle absolute type encoder (43) links to each other with the outer wall of the second bearing outer frame (38) more than second; Second pinion (42) is fixed on the output shaft of circle absolute type encoder (43) more than second, is meshed with second largest gear (39);
Lower arm link length slidable adjustment mechanism (7) comprises that second raises pole (44) and second lower dolly bar (45), and both link to each other with chute through screw and constitute moving sets;
Wrist revolute mechanism (8) comprises the 2nd L type connecting rod (46) and handle installing connecting rods (47); One end of the 2nd L type connecting rod (46) constitutes revolute through the lower ends of second lower dolly bar (45) in bearing and the lower arm link length slidable adjustment mechanism (7); The other end links to each other with the upper end of handle installing connecting rods (47) through bearing and constitutes revolute; The axis of these two revolutes is vertical each other on same plane, on two revolutes, installs and measures the 3rd photoelectric encoder (8-1) of the anglec of rotation respectively;
Terminal operating grip (9) is fixed on the middle part of the handle installing connecting rods (47) in the wrist revolute mechanism (8); The end of terminal operating grip (9) is equipped with two buttons (48) that are used to control host computer procedure, at the lower end of handle installing connecting rods (47) setting tool clamping device (10).
2. wearable high-accuracy data acquisition upper limb ectoskeleton according to claim 1; The angle of axis that it is characterized in that axis and the shoulder slip ring mechanism (3) of the interior receipts/abduction revolute (21) in the shoulder revolute mechanism (2) is 50 °, and the angle of the axis of the parallel revolute with ancon of the axis mechanism (5) of the flexion/extension revolute (22) in the shoulder revolute mechanism (2) is 30 °.
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| CN2011102767071A CN102440853A (en) | 2011-09-19 | 2011-09-19 | Wearable high-precision data acquisition upper limb exoskeleton |
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| CN2011102767071A CN102440853A (en) | 2011-09-19 | 2011-09-19 | Wearable high-precision data acquisition upper limb exoskeleton |
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| CN105748260A (en) * | 2016-04-26 | 2016-07-13 | 华北理工大学 | Shoulder rehabilitation training robot with three degrees of freedom |
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| CN112057298A (en) * | 2020-09-22 | 2020-12-11 | 岳池县人民医院 | Arm fracture postoperative rehabilitation device |
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Application publication date: 20120509 |