CN102727360B - Human upper limb rehabilitation robot - Google Patents
Human upper limb rehabilitation robot Download PDFInfo
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- CN102727360B CN102727360B CN201210184232.8A CN201210184232A CN102727360B CN 102727360 B CN102727360 B CN 102727360B CN 201210184232 A CN201210184232 A CN 201210184232A CN 102727360 B CN102727360 B CN 102727360B
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Abstract
The invention relates to a human upper limb rehabilitation robot. The human upper limb rehabilitation robot comprises a first joint component, a second joint component, a third joint component, a fourth joint component, a fifth joint component, a sixth joint component and a seventh joint component, wherein three axes of the first joint component, the second joint component and the third joint component are intersected at a point and vertical to one another, and the point is positioned at the rotary center point of a shoulder joint of a user; three axes of the fifth joint component, the sixth joint component and the seventh joint component are intersected at a point and vertical to one another, and the point is positioned at the rotary center point of a wrist joint of the user. The human upper limb rehabilitation robot adopts a design structure that seven rotary joint components are connected with one another in series to form a mechanical arm, and each joint component is provided with a driving mechanism of a motor reducer to drive an arm to actively move so as to effectively realize rehabilitation training.
Description
Technical field
The present invention relates to the field of medical rehabilitation exercising device, especially a kind of human upper limb healing robot.
Background technology
Fact proved, it is huge that the healing robot technology just emerging helps the potentiality of Rehabilitation by upper and lower limbs rehabilitation training, and they can replace and alleviate the heavy muscle power of Physical Therapist, high-intensity work load.Robot is suitable for repetitive work, and this is better implemented robot rehabilitation training program, and the design of this class method is mainly for helping the patient of nerve damage to recover its motion function.What in the functional disability being caused by nervous system injury, affect patient's function most is the functional disorder of upper limb system, the disability that upper limb systemic-function sexual disorders causes, independence on patient's life and the impact of quality are very significant, to the rehabilitation of patient moving function, especially the recovery of upper extremity function, is considered to one of most important target in the neural rehabilitation training of cerebral trauma and Patients of Spinal.
Summary of the invention
The technical problem to be solved in the present invention is: in order to overcome the problem of above-mentioned middle existence, provide a kind of human upper limb healing robot, it can be by straightforward manipulation, interactive monitoring and the long-range modes such as border control of facing in the operation steadily of hospital's safety.
The technical solution adopted for the present invention to solve the technical problems is: a kind of human upper limb healing robot, comprise the exoskeleton-type mechanical arm being in series by 7 joint assemblies that rotatablely move successively, described exoskeleton-type mechanical arm comprises the first joint assembly for realizing user shoulder joint motion, be connected with the first joint assembly for realizing the second joint assembly of user shoulder joint motion, the 3rd joint assembly that also can adjust according to the large arm lengths of user length for realizing user shoulder joint motion being connected with second joint assembly, the shell being connected with the 3rd joint assembly regulates the 4th joint assembly of length according to the large arm lengths of user, be arranged on the 4th joint assembly for realize the 5th joint assembly of user wrist joints moving with the 5th joint assembly rotate be connected for realize the 6th joint assembly of user wrist joints moving and with the 6th joint assembly rotate be connected for realizing the 7th joint assembly of user wrist joints moving, between the first described joint assembly and second joint assembly, be connected by connector, the first described joint assembly, three axis of second joint assembly and the 3rd joint assembly meet at a bit and are mutually vertical, this point is positioned at the center of rotation of user shoulder joint, the 5th joint assembly, three axis of the 6th joint assembly and the 7th joint assembly meet at a bit and are mutually vertical, this point is positioned at the carpal center of rotation of user, the axis of the 4th joint assembly is by patient's elbow joint.
The first described joint assembly comprises the first rotation shell for being fixed on the first set casing on mounting base and being rotationally connected with the first set casing, the first set casing and first rotates shell and rotates around the axis of rotation of the first joint assembly, described second joint assembly comprises the second set casing being connected with connector and the second rotation shell being rotationally connected with the second set casing, the second set casing and second rotates shell and rotates around the gyroaxis of second joint assembly, the first encoder is all installed in the first described set casing and the second set casing successively, the first motor being connected with the first encoder, the first decelerator being connected with the first motor output shaft, the first sliding cross coupling, the first hypoid worm screw, the first hypoid worm gear and for measuring the first chip and first magnet steel of joint rotation angle, the skew-axes gears that the first hypoid worm screw and the first accurate two-sided worm gear are a kind of advanced persons, more and more be widely used in each branch of engineering field because it has increased gear area of contact and better mating surface is provided, so it has larger load-carrying ability (especially performance is more outstanding in the time of overload), larger load is from anharmonic ratio, the advantages such as more level and smooth Meshing Process of Spur Gear and less noise, and it also can reliability service in steel to steel material contact, the first chip can be selected Hall chip, the first decelerator is connected with the first hypoid worm screw by the first sliding cross coupling, the first hypoid worm screw engages with the first hypoid worm gear, in the first described rotation shell and the second rotation shell, be provided with series connection elasticity executor and the first joint shaft, the first accurate two-sided globoid worm gear and the first joint shaft connect firmly, the first chip is arranged on the first set casing, the first magnet steel and the first director surface worm gear connect firmly, the first joint shaft is by the first gland and the elasticity executor phase frictional connection of connecting, the first gland connects firmly by bolt and the first joint shaft, be the frictional force between scalable the first gland and pulley by adjusting bolt torque.
The 3rd described joint assembly comprises the 3rd set casing being connected with the second rotation shell, with the 3rd set casing the first wobble-plate being connected that rotates, the mount pad that is connected to upper arm restraining board on the first wobble-plate lower surface and the first cylindrical guide being connected with upper arm restraining board and is slidably connected on the first cylindrical guide, in the 3rd described set casing, the second encoder is installed, the second motor being connected with the second encoder and the second decelerator being connected with the second motor output shaft and the first capstan winch being connected with the second decelerator, the 3rd set casing bottom is provided with arc shaped slider, the first described wobble-plate comprises that arc sets a table and be fixed on set a table the second steel wire rope on two ends and be arranged on the arc-shaped slide rail of arc on setting a table of arc, the second wirerope-winding is on the first capstan winch, the first described capstan winch drives arc to set a table by the second steel wire rope and swings along arc shaped slider, on described mount pad dual-side, be provided with a pair of the first Quick-clamped handle.
The 4th described joint assembly comprises the 4th set casing being arranged on mount pad, the 3rd rotate shell and be arranged on the 3rd and rotate the second cylindrical guide on shell and the connecting plate being slidably connected with the second cylindrical guide with the 4th set casing is rotationally connected, between the second described cylindrical guide and connecting plate, be provided with the second clamping lever, in the 3rd described rotation shell, the 3rd encoder is installed, the 3rd motor being connected with the 3rd encoder, the 3rd decelerator being connected with the 3rd motor output shaft, the second sliding cross coupling, the second hypoid worm screw, the second hypoid worm gear and for measuring the second chip and second magnet steel of joint rotation angle, the 3rd decelerator is connected with the second hypoid worm screw by the second sliding cross coupling, the second hypoid worm screw engages with the second hypoid worm gear, in the 4th described set casing, be provided with series connection elasticity executor and second joint axle, the second hypoid worm gear and second joint axle connect firmly, the second chip is arranged on the 3rd and rotates on shell, the second magnet steel and the second hypoid worm gear connect firmly, second joint axle is by the second gland and the elasticity executor phase frictional connection of connecting, the second gland connects firmly by bolt and second joint axle, be the frictional force between scalable the second gland and pulley by adjusting bolt torque.
In order to guarantee the flexibility of robot, safety, motility and for the enough strength of the sensitive operation of rehabilitation training of upper limbs system, described series connection elasticity executor comprises pulley, steel wire rope and the first spring and the second spring, on described pulley, offer spheroidal pit, on steel wire rope, be fixed with the steel ball corresponding with spheroidal pit, one end of steel wire rope is connected with the first threaded rod, on the other end, be connected with the second threaded rod, on the first threaded rod, be equipped with the first spring and screw by the first nut, on the second threaded rod, be equipped with the second spring and screw by the second nut, on the second nut, be connected with potentiometer slide bar, potentiometer slide bar end is connected with linear potentiometer, potentiometer seat is installed on linear potentiometer, potentiometer seat connects firmly with the corresponding shell that rotates, the close pulley end of the first spring and the second spring is pressed on corresponding rotation shell, by the distortion of measuring spring, monitoring person joint's moment of torsion and it is directly controlled indirectly, the power control problem that traditional moment can be measured converts to positional control problem, thereby make capable measurement become fine solution and reach the object of degree of accuracy that improvement power is measured, with be placed in typical load cell on machine compared with strain transducer etc., the larger deformability that spring has has been improved noise acoustic ratio, the high speed reducing ratio of motor has also further increased executor's specific power and power density, executor is according to the instruction application of force for series connection elasticity, and it is similar to people's muscle in conjunction with intrinsic elasticity, it to be worked together, compare with traditional moment or hydrostatic sensor, stability and robustness that series connection elasticity executor controls when showing better reply macroseism and surprisingly firmly hitting, the operation behavior that series connection elasticity executor contacts with people has intrinsic safety, in the time contacting suddenly with people, traditional executor shows effective moments of inertia with higher risk, square being directly proportional of this effective moment of inertia and gear reduction ratio, in the time that intensity is higher, this coefficient can reach 10,000 times even higher conventionally, and the flexible member of connecting in elasticity executor can make gear-box and mechanical arm in decoupling zero state in the time that machine contacts with hard thing, thereby make the moment of inertia only limit to the moment of inertia of machinery itself.
The 5th described joint assembly comprises the second wobble-plate being arranged on connecting plate and the power box coordinating with the outer arcuate edge phase slippage of the second wobble-plate, the second described wobble-plate comprises that forearm sets a table, be separately positioned on forearm set a table upper surface and lower surface upper outside arc-shaped slide rail and lower outside arc-shaped slide rail and be connected to the set a table cable wire of two ends of forearm, the 4th encoder is installed in described power box, the 4th motor being connected with the 4th encoder and the 4th decelerator being connected with the 4th motor output shaft and the second capstan winch being connected with the 4th decelerator, on described power box, be connected with arc shaped slider, the second described capstan winch drives forearm to set a table by cable wire and swings along upper outside arc-shaped slide rail and lower outside arc-shaped slide rail.
The 6th described joint assembly comprises the 5th set casing being connected on power box and the first swing arm being rotationally connected with the 5th set casing, the 5th motor that the 5th encoder is installed, be connected with the 5th encoder in the 5th set casing and the 5th decelerator being connected with the 5th motor output shaft and the first fixing head being connected with the 5th decelerator, the first fixing head is connected with first swing arm one end.
In order to make wrist left-right rotation, the 7th described joint assembly comprises the 6th set casing that is arranged in the first swing arm and the second swing arm being rotationally connected with the 6th set casing and the handle that is connected to the second swing arm end, the 6th motor that the 6th encoder is installed, be connected with the 6th encoder in the 6th set casing and the 6th decelerator being connected with the 6th motor output shaft, the second fixing head being connected with the 6th decelerator, the second fixing head is connected with the second swing arm.
The invention has the beneficial effects as follows; human upper limb healing robot of the present invention; combination series connection elasticity executor in joint assembly; can make capable measurement become easier; guarantee flexibility, safety, the motility of robot and improve the strength of the sensitive operation of rehabilitation training of upper limbs, adopt the project organization of seven rotary joint assembly mechanical arms in series, each joint assembly is with the driving mechanism of motor reducer; can drive arm active exercise, thereby effectively realize rehabilitation training.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is axonometric chart of the present invention;
Fig. 2 is the axonometric chart of the first joint assembly or second joint assembly in Fig. 1;
Fig. 3 is the front view of Fig. 2;
Fig. 4 is B-B cutaway view in Fig. 3;
Fig. 5 is C-C cutaway view in Fig. 3;
Fig. 6 is the axonometric chart of the 3rd joint assembly in Fig. 1;
Fig. 7 is the front view of Fig. 6;
Fig. 8 is A-A cutaway view in Fig. 7;
Fig. 9 is B-B cutaway view in Fig. 8;
Figure 10 is the axonometric chart of the 4th joint assembly in Fig. 1;
Figure 11 is the front view of Figure 10;
Figure 12 is A-A cutaway view in Figure 11;
Figure 13 is B-B cutaway view in Figure 12;
Figure 14 is C-C cutaway view in Figure 13;
Figure 15 is the axonometric chart of the 5th joint assembly in Fig. 1;
Figure 16 is the axonometric chart of the 6th joint assembly in Fig. 1;
Figure 17 is the front view of Figure 16;
Figure 18 is A-A cutaway view in Figure 17;
Figure 19 is the side view of Figure 16;
Figure 20 is the axonometric chart of the 7th joint assembly in Fig. 1;
Figure 21 is the front view of Figure 20;
Figure 22 is the side view of Figure 21;
Figure 23 is the cutaway view of A-A in Figure 22;
Figure 24 is elasticity executor's the structural representation of connecting in the present invention.
1. first joint assemblies in figure, 11. first set casings, 12. first rotate shell, 13. first encoders, 14. first motors, 15. first decelerators, 16. first sliding cross couplings, 17. first hypoid worm gears, 18. first hypoid worm screws, 19. first chips, 110. first joint shafts, 111. first magnet steel, 112. first glands, 2. second joint assembly, 21. second set casings, 22. second rotate shell, 3. the 3rd joint assembly, 31. the 3rd set casings, 32. first wobble-plates, 32-1. arc is set a table, 32-2. the second steel wire rope, 32-3. arc-shaped slide rail, arm restraining board on 33., 34. first cylindrical guides, 35. mount pads, 36. second encoders, 37. second motors, 38. second decelerators, 39. first capstan winches, 310. arc shaped slider, 311. first Quick-clamped hands handles, 4. the 4th joint assembly, 41. the 4th set casings, 42. the 3rd rotate shell, 43. second cylindrical guides, 44. connecting plates, 46. second clamping levers, 47. the 3rd encoders, 48. the 3rd motors, 49. the 3rd decelerators, 410. second sliding cross couplings, 411. second hypoid worm screws, 412. second hypoid worm gears, 413. second chips, 414. second joint axles, 415. second magnet steel, 416. second glands, 5. the 5th joint assembly, 51. second wobble-plates, 511. forearms are set a table, 512. upper outside arc-shaped slide rails, 513. lower outside arc-shaped slide rails, 514. cable wire, 52. power boxes, 53. the 4th encoders, 54. the 4th motors, 55. the 4th decelerators, 56. second capstan winches, 57. arc shaped sliders, 6. the 6th joint assembly, 61. the 5th set casings, 62. first swing arms, 63. the 5th encoders, 64. the 5th motors, 65. the 5th decelerators, 66. first fixing heads, 7. the 7th joint assembly, 71. the 6th set casings, 72. second swing arms, 73. hands handles, 74. the 6th encoders, 75. the 6th motors, 76. the 6th decelerators, 77. second fixing heads, 8. connector, 9. series connection elasticity executor, 91. pulleys, 92. steel wire ropes, 92-1. steel ball 93. first threaded rods, 94. second threaded rods, 95. first springs, 96. first nuts, 97. second springs, 98. second nuts, 99. potentiometer slide bars, 910. linear potentiometer, 911. potentiometer seats.
The specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, and basic structure of the present invention is only described in a schematic way, and therefore it only shows the formation relevant with the present invention.
Human upper limb healing robot as shown in Figure 1, comprise successively by 7 exoskeleton-type mechanical arms that the joint assembly rotatablely moving is in series, exoskeleton-type mechanical arm comprises the first joint assembly 1 for realizing user shoulder joint motion, be connected with the first joint assembly 1 for realizing the second joint assembly 2 of user shoulder joint motion, the 3rd joint assembly 3 that also can regulate according to the large arm lengths of user length for realizing user shoulder joint motion being connected with second joint assembly 2, what be connected with the 3rd joint assembly 3 can be according to the 4th joint assembly 4 of user forearm length adjustment length, be arranged on the 4th joint assembly 4 for realize the 5th joint assembly 5 of user wrist joints moving with the 5th joint assembly 5 rotate be connected for realize the 6th joint assembly 6 of user wrist joints moving and with the 6th joint assembly 6 rotate be connected for realizing the 7th joint assembly 7 of user wrist joints moving, between the first joint assembly 1 and second joint assembly 2, be connected by connector 8, the first joint assembly 1, three axis of second joint assembly 2 and the 3rd joint assembly 3 meet at a bit and are mutually vertical, after wearing, this point is positioned at the rotary middle point of user shoulder joint, the first joint assembly 1, second joint assembly 2 and the 3rd joint assembly 3 can be simulated three rotary freedoms of shoulder joint, the 5th joint assembly 5, three axis of the 6th joint assembly 6 and the 7th joint assembly 7 meet at a bit and are mutually vertical, this point is positioned at the carpal joint rotary middle point of user, the 5th joint assembly 5, the 6th joint assembly 6 and the 7th joint assembly 7 can be simulated carpal three rotary freedoms.
As Fig. 2, Fig. 3, human upper limb healing robot shown in Fig. 4 and Fig. 5, the first joint assembly 1 comprises the first rotation shell 12 for being fixed on the first set casing 11 on mounting base and being rotationally connected with the first set casing 11, the first set casing 11 and first rotates shell 12 and rotates around the axis of rotation of the first joint assembly, second joint assembly 2 comprises the second set casing 21 being connected with connector 8 and the second rotation shell 22 being rotationally connected with the second set casing 21, the second set casing 21 and second rotates shell 22 and rotates around the axis of rotation of second joint assembly 2, interior first encoder 13 that is all provided with successively of the first set casing 11 and the second set casing 21, the first motor 14 being connected with the first encoder 13, the first decelerator 15 being connected with the first motor 14 output shafts, the first sliding cross coupling 16, the first hypoid worm screw 17, the first hypoid worm gear 18 and for measuring the first chip 19 and first magnet steel 111 of joint rotation angle, the first decelerator 15 is connected with the first hypoid worm screw 17 by the first sliding cross coupling 16, the first hypoid worm screw 17 engages with the first hypoid worm gear 18, in the first rotation shell 12 and the second rotation shell 22, be provided with series connection elasticity executor 9 and the first joint shaft 110, the first hypoid worm gear 18 and the first joint shaft 110 connect firmly, the first chip 19 is arranged on the first set casing 11, the first magnet steel 111 and the first hypoid worm gear 18 connect firmly, the first magnet steel 111 and the first chip 19 form Hall element, both relatively rotate, the first chip 19 output corner signals, the first joint shaft 110 is by the first gland 112 and the pulley 91 phase frictional connections of connecting on elasticity executor 9, the first gland 112 connects firmly by bolt and the first joint shaft 110, be the frictional force between capable of regulating the first gland 112 and pulley 91 by adjusting bolt torque, utilize series connection elasticity executor 9, can can calculate spring deflection by measuring resistance variable quantity, and then obtain pulling force and the joint moment of torsion of steel wire rope.
As Fig. 6, Fig. 7, human upper limb healing robot shown in Fig. 8 and Fig. 9, the 3rd joint assembly 3 comprises the 3rd set casing 31 being connected with the second rotation shell 22, with the 3rd set casing 31 the first wobble-plate 32 being connected that rotates, the mount pad 35 that is connected to upper arm restraining board 33 on the first wobble-plate 32 lower surfaces and the first cylindrical guide 34 being connected with upper arm restraining board 33 and is slidably connected on the first cylindrical guide 34, the second encoder 36 is installed in the 3rd set casing 31, the second motor 37 being connected with the second encoder 36 and the second decelerator 38 being connected with the second motor 37 output shafts and the first capstan winch 39 being connected with the second decelerator 38, the 3rd set casing 31 bottoms are provided with arc shaped slider 310, the first wobble-plate 32 comprises set a table 32-1 and be fixed on set a table the second steel wire rope 32-2 on 32-1 two ends and be arranged on the arc-shaped slide rail 32-3 that arc is set a table on 32-1 of arc of arc, the second steel wire rope 32-2 is wrapped on the first capstan winch 39, the first wobble-plate 32 is connected with arc-shaped slide rail 32-3 by arc shaped slider 310 with the 3rd set casing 31, in the time of electric machine rotation, the first capstan winch 39 drives the arc 32-1 that sets a table to swing along arc shaped slider 310 by the second steel wire rope 32-2, on mount pad 35 dual-sides, be provided with a pair of the first Quick-clamped handle 311.
As Figure 10, Figure 11, Figure 12, human upper limb healing robot shown in Figure 13 and Figure 14, the 4th joint assembly 4 comprises the 4th set casing 41 being arranged on mount pad 35, the 3rd rotate shell 42 and be arranged on the 3rd and rotate the slide-and-guide axle 43 on shell 42 and the connecting plate 44 being slidably connected with the second cylindrical guide 43 with the 4th set casing 41 is rotationally connected, between the second cylindrical guide 43 and connecting plate 44, be provided with quick-speed jigs 45, on quick-speed jigs 45, be connected with the second clamping lever 46, can be so that the adaptation to forearm different length, when adjusting, first pull the second clamping lever 46 to erecting, after being slid into correct position, connecting plate 44 puts down quick-speed jigs spanner 46, locking, in the 3rd rotation shell 42, the 3rd encoder 47 is installed, the 3rd motor 48 being connected with the 3rd encoder 47, the 3rd decelerator 49 being connected with the 3rd motor 48 output shafts, the second sliding cross coupling 410, the second hypoid worm screw 411, the second hypoid worm gear 412 and for measuring the second chip 413 and second magnet steel 415 of joint rotation angle, the 3rd decelerator 49 is connected with the second hypoid worm screw 411 by the second sliding cross coupling 410, the second hypoid worm screw 411 engages with the second hypoid worm gear 412, in the 4th set casing 41, be placed with series connection elasticity executor 9 and second joint axle 414, the second hypoid worm gear 412 connects firmly with second joint axle 414, the second chip 413 is arranged on the 3rd and rotates on shell 42, the second magnet steel 415 and the second hypoid worm gear 412 connect firmly, the second chip 413 and the second magnet steel 415 form Hall element, both relatively rotate, the second chip 413 output corner signals, second joint axle 414 is by the second gland 416 and the elasticity executor 9 phase frictional connections of connecting, to reach the object of flexible braking, the second gland 416 connects firmly by bolt and second joint axle 414, be the frictional force between scalable the second gland 416 and pulley 91 by adjusting bolt torque.
Human upper limb healing robot as shown in figure 15, the 5th joint assembly 5 comprises the second wobble-plate 51 being arranged on connecting plate 44 and the power box 52 coordinating with the outer arcuate edge phase slippage of the second wobble-plate 51, the second wobble-plate 51 comprises that forearm sets a table 511, be separately positioned on forearm set a table 511 upper surfaces and lower surface upper outside arc-shaped slide rail 512 and lower outside arc-shaped slide rail 513 and be connected to the set a table cable wire 514 of 511 liang of ends of forearm, the 4th encoder 53 is installed in power box 52, the 4th motor 54 being connected with the 4th encoder 53 and the 4th decelerator 55 being connected with the 4th motor 54 output shafts and the second capstan winch 56 being connected with the 4th decelerator 55, on the second capstan winch 56, be wound around some circle cable wires 514, on power box 52, be connected with arc shaped slider 57, in the time of electric machine rotation, the second capstan winch 56 drives forearm to set a table by cable wire 514 and 511 swings along upper outside arc-shaped slide rail 512 and lower outside arc-shaped slide rail 513, when being placed on forearm, forearm set a table when upper, the 5th joint assembly 5 will make forearm left-right rotation.
As Figure 16, Figure 17, human upper limb healing robot shown in Figure 18 and Figure 19, the 6th joint assembly 6 comprises the 5th set casing 61 being connected on power box 52 and the first swing arm 62 being rotationally connected with the 5th set casing 61, the 5th encoder 63 is installed in the 5th set casing 61, the 5th motor 64 being connected with the 5th encoder 63 and the 5th decelerator 65 being connected with the 5th motor 64 output shafts and the first fixing head 66 being connected with the 5th decelerator 65, the first fixing head 66 is connected with first swing arm 62 one end, in the time that little arm is placed on the 5th joint assembly 5, drive system on the 6th joint assembly 6 in the 5th set casing 61 drives the first swing arm 62 to rotate, the first swing arm is connected with the 7th joint assembly 7, thereby the wrist of making and little arm move up and down.
As Figure 20, Figure 21, human upper limb healing robot shown in Figure 22 and Figure 23, the 7th joint assembly 7 comprises the 6th set casing 71 that is arranged in the first swing arm 62 and the second swing arm 72 being rotationally connected with the 6th set casing 71 and the handle 73 that is connected to the second swing arm 72 ends, the 6th encoder 74 is installed in the 6th set casing 71, the 6th motor 75 being connected with the 6th encoder 74 and the 6th decelerator 76 being connected with the 6th motor 75 output shafts, the second fixing head 77 being connected with the 6th decelerator 76, the second fixing head 77 is connected with the second swing arm 72, when arm is fixed on the 6th joint assembly 6, when hands is caught handle, drive system on the 7th joint assembly 7 in the 6th set casing 71 is rotated and is driven swing arm to swing, so just promote wrist left-right rotation.
Human upper limb healing robot shown in Figure 24, series connection elasticity executor 9 comprises pulley 91, steel wire rope 92, steel ball 92-1, the first spring 95, the second spring 97, the first nut 96, the second nut 98 and the first threaded rod 93 and the second threaded rod 94, on pulley 91, offer spheroidal pit, on steel wire rope 92, be fixed with the steel ball 92-1 corresponding with spheroidal pit, one end of steel wire rope 92 is connected with the first threaded rod 93, on the other end, be connected with the second threaded rod 94, on the first threaded rod 93, cover has the first spring 95 and screws with the first nut 96 endways, on the second threaded rod 94, cover has the second spring 97 and screws with the second nut 98 endways, on the second nut 98, be connected with potentiometer slide bar 99, potentiometer slide bar 99 ends are connected with linear potentiometer 910, potentiometer seat 911 is installed on linear potentiometer 910, in the time that motor drive pulley is rotated, pulley 91 pulls steel wire rope 92 by the steel ball 92-1 being fixed on steel wire rope 92, the nut of steel wire rope 92 ends moves Compress Spring with steel wire rope 92, spring promotes to rotate shell again and makes its rotation, the deflection of spring can be measured by linear potentiometer 910, and then can calculate spring pressure and joint moment of torsion, its this series connection elasticity executor 9 has passive flexibility and response speed faster, can protect user not to be subject to the excessive injury of motor output torque.
Series connection elasticity executor's pulley 91 and coupled joint shaft link together by gland and 6 hold-down bolts; between gland and pulley 91, pass through frictional force transferring power; in the time that extraneous load is excessive; pulley 91 skids; with protection motor and gear; by regulating the moment of torsion of hold-down bolt, can adjust the loading moment while skidding.
Human upper limb healing robot of the present invention, rehabilitation training of upper limbs has three steps: capture training 1.: reach gratifying movement velocity, the accuracy of the stretch duration of uniformity and execution end, is mainly used in training to stretch out one's hand touching object; 2. touch: the accuracy of rotation, touch and the movement locus of arm; 3. flow process: constraint satisfaction can either improve function of joint, improves its synchronicity, can also promote its speed ability, and in the time capturing and touch becomes main action simultaneously, its process is more complicated.
Take above-mentioned foundation desirable embodiment of the present invention as enlightenment, by above-mentioned description, relevant staff can, not departing from the scope of this invention technological thought, carry out various change and modification completely.The technical scope of this invention is not limited to the content in description, must determine its technical scope according to claim scope.
Claims (1)
1. a human upper limb healing robot, it is characterized in that: the exoskeleton-type mechanical arm being in series by 7 joint assemblies that rotatablely move, described exoskeleton-type mechanical arm comprises the first joint assembly (1) for realizing user shoulder joint motion, be connected with the first joint assembly (1) for realizing the second joint assembly (2) of user shoulder joint motion, the 3rd joint assembly (3) that also can regulate according to the large arm lengths of user length for realizing user shoulder joint motion being connected with second joint assembly (2), what be connected with the 3rd joint assembly (3) can be according to the 4th joint assembly (4) of user forearm length adjustment length, be arranged on the 4th joint assembly (4) for realize the 5th joint assembly (5) of user forearm left-right rotation and being connected for the 6th joint assembly (6) of wrist joints moving and with the 6th joint assembly (6) of being connected with the 5th joint assembly (5) for realizing the 7th joint assembly (7) of user wrist joints moving, between described the first joint assembly (1) and second joint assembly (2), be connected by connector (8), described the first joint assembly (1), second joint assembly (2) meets at a bit with three axis of the 3rd joint assembly (3) and is mutually vertical, this point is positioned at the rotary middle point of user shoulder joint, the 5th described joint assembly (5), the 6th joint assembly (6) meets at a bit with three axis of the 7th joint assembly (7) and is mutually vertical, this point is positioned at the carpal rotary middle point of user
Described the first joint assembly (1) comprises for being fixed on the first set casing (11) and the first rotation shell (12) being connected with the first set casing (11) on mounting base, the first set casing (11) and first rotates shell (12) and rotates around the axis of rotation of the first joint assembly (1), described second joint assembly (2) comprises the second set casing (21) being connected with connector (8) and the second rotation shell (22) being connected with the second set casing (21), the second set casing (21) and second rotates shell (22) and rotates around the axis of rotation of second joint assembly (2), in described the first set casing (11) and the second set casing (21), the first encoder (13) is all installed successively, the first motor (14) being connected with the first encoder (13), the first decelerator (15) being connected with the first motor (14) output shaft, the first sliding cross coupling (16), the first hypoid worm screw (17), the first hypoid worm gear (18) and for measuring the first chip (19) and first magnet steel (111) of joint rotation angle, the first decelerator (15) is connected with the first hypoid worm screw (17) by the first sliding cross coupling (16), the first hypoid worm screw (17) engages with the first hypoid worm gear (18), in the first described rotation shell (12) and the second rotation shell (22), be provided with series connection elasticity executor (9) and the first joint shaft (110), the first hypoid worm gear (18) connects firmly with the first joint shaft (110), the first chip (19) is arranged on the first set casing (11), the first magnet steel (111) connects firmly with the first hypoid worm gear (18), the first joint shaft (110) is by the first gland (112) and elasticity executor (9) the phase frictional connection of connecting, the first gland (112) connects firmly by bolt and the first joint shaft (110),
The 3rd described joint assembly (3) comprises the 3rd set casing (31) being connected with the second rotation shell (22), the first wobble-plate (32) being connected with the 3rd set casing (31), the mount pad (35) that is connected to upper arm restraining board (33) on the first wobble-plate (32) lower surface and the first cylindrical guide (34) being connected with upper arm restraining board (33) and is slidably connected on the first cylindrical guide (34), in the 3rd described set casing (31), the second encoder (36) is installed, the second motor (37) being connected with the second encoder (36) and the second decelerator (38) being connected with the second motor (37) output shaft and the first capstan winch (39) being connected with the second decelerator (38), the 3rd set casing (31) bottom is provided with arc shaped slider (310), described the first wobble-plate (32) comprises that arc sets a table (32-1) and be fixed on set a table the second steel wire rope (32-2) on (32-1) two ends and be arranged on the arc-shaped slide rail (32-3) that arc is set a table on (32-1) of arc, the second steel wire rope (32-2) is wrapped on the first capstan winch (39), described the first capstan winch (39) by the second steel wire rope (32-2) drive arc set a table (32-1) swing along arc shaped slider (310), on described mount pad (35) dual-side, be provided with a pair of the first Quick-clamped handle (311),
The 4th described joint assembly (4) comprises the 4th set casing (41) being arranged on mount pad (35), what be connected with the 4th set casing (41) the 3rd rotates shell (42) and is arranged on the second cylindrical guide (43) in the 3rd rotation shell (42) and the connecting plate (44) being slidably connected with the second cylindrical guide (43), between described the second cylindrical guide (43) and connecting plate (44), be provided with the second clamping lever (46), in the 3rd described rotation shell (42), the 3rd encoder (47) is installed, the 3rd motor (48) being connected with the 3rd encoder (47), the 3rd decelerator (49) being connected with the 3rd motor (48) output shaft, the second sliding cross coupling (410), the second hypoid worm screw (411), the second hypoid worm gear (412) and for measuring the second chip (413) and second magnet steel (415) of joint rotation angle, the 3rd decelerator (49) is connected with the second hypoid worm screw (411) by the second sliding cross coupling (410), the second hypoid worm screw (411) engages with the second hypoid worm gear (412), in the 4th described set casing (41), be provided with series connection elasticity executor (9) and second joint axle (414), the second hypoid worm gear (412) connects firmly with second joint axle (414), the second chip (413) is arranged on the 3rd and rotates on shell (42), the second magnet steel (415) connects firmly with the second hypoid worm gear (412), second joint axle (414) is by the second gland (416) and elasticity executor (9) the phase frictional connection of connecting, the second gland (416) connects firmly by bolt and second joint axle (414),
Described series connection elasticity executor (9) comprises pulley (91), steel wire rope (92), the first spring (95) and the second spring (97), on described pulley (91), offer spheroidal pit, on steel wire rope (92), be fixed with the steel ball corresponding with spheroidal pit (92-1), one end of steel wire rope (92) is connected with the first threaded rod (93), on the other end, be connected with the second threaded rod (94), on the first threaded rod (93), be equipped with the first spring (95) and screw by the first nut (96), on the second threaded rod (94), be equipped with the second spring (97) and screw by the second nut (98), on the second nut (98), be connected with potentiometer slide bar (99), potentiometer slide bar (99) end is connected with linear potentiometer (910), potentiometer seat (911) is installed on linear potentiometer (910), potentiometer seat (911) connects firmly with the corresponding shell that rotates, the first spring (95) is pressed on corresponding rotation shell with close pulley (91) end of the second spring (97),
The 5th described joint assembly (5) comprises the second wobble-plate (51) being arranged on connecting plate (44) and the power box (52) coordinating with the outer arcuate edge phase slippage of the second wobble-plate (51), described the second wobble-plate (51) comprises forearm set a table (511), be separately positioned on forearm set a table (511) upper surface and lower surface upper outside arc-shaped slide rail (512) and lower outside arc-shaped slide rail (513) and be connected to the set a table cable wire (514) of (511) two ends of forearm, the 4th encoder (53) is installed in described power box (52), the 4th motor (54) being connected with the 4th encoder (53) and the 4th decelerator (55) being connected with the 4th motor (54) output shaft and the second capstan winch (56) being connected with the 4th decelerator (55), on described power box (52), be connected with arc shaped slider (57), described the second capstan winch (56) drives forearm to set a table (511) along upper outside arc-shaped slide rail (512) and lower outside arc-shaped slide rail (513) swing by cable wire (514),
The 6th described joint assembly (6) comprises the 5th set casing (61) being connected on power box (52) and the first swing arm (62) being connected with the 5th set casing (61), the 5th motor (64) that the 5th encoder (63) is installed, be connected with the 5th encoder (63) in the 5th set casing (61) and the 5th decelerator (65) being connected with the 5th motor (64) output shaft and the first fixing head (66) being connected with the 5th decelerator (65), the first fixing head (66) is connected with the first swing arm (62) one end;
The 7th described joint assembly (7) comprises the 6th set casing (71) and the second swing arm (72) being connected with the 6th set casing (71) and the handle (73) that is connected to the second swing arm (72) end that are arranged in the first swing arm (62), the 6th encoder (74) is installed in the 6th set casing (71), the 6th motor (75) being connected with the 6th encoder (74) and the 6th decelerator (76) being connected with the 6th motor (75) output shaft, the second fixing head (77) being connected with the 6th decelerator (76), the second fixing head (77) is connected with the second swing arm (72).
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| CN201210184232.8A CN102727360B (en) | 2012-06-06 | 2012-06-06 | Human upper limb rehabilitation robot |
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| CN201210184232.8A CN102727360B (en) | 2012-06-06 | 2012-06-06 | Human upper limb rehabilitation robot |
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