CN103083156B - Three-degree of freedom parallel serial upper limb rehabilitation robot - Google Patents
Three-degree of freedom parallel serial upper limb rehabilitation robot Download PDFInfo
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- CN103083156B CN103083156B CN201310020668.8A CN201310020668A CN103083156B CN 103083156 B CN103083156 B CN 103083156B CN 201310020668 A CN201310020668 A CN 201310020668A CN 103083156 B CN103083156 B CN 103083156B
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Abstract
The invention discloses a three-degree of freedom parallel serial upper limb rehabilitation robot and belongs to the technical field of medical rehabilitation devices. The three-degree of freedom parallel serial upper limb rehabilitation robot is formed by a parallel mechanism and a serial rotating pair in an overlapped mode. A moving platform (7) and a static platform (4) are connected through a branched chain AB (3), a branched chain CD (5) and a branched chain EF (6) to form the parallel mechanism. The three degree of freedom parallel serial upper limb rehabilitation robot achieves gesture rotation around an X axis, a Y axis and a Z axis, different drive can be set according to pathogenetic conditions of patients, recovery training of a wrist joint or a forearm can be selectively achieved, and then different recovery training effects can be achieved. The three-degree of freedom parallel serial upper limb rehabilitation robot solves the problems that an existing limb rehabilitation robot is single in form, large in occupied space, large in chain length and large in weight, and large drive force is needed.
Description
Technical field
The invention belongs to medical rehabilitation apparatus technical field, can the actual rehabilitation exercise of simulation reconstruction carpal joint and forearm, the rehabilitation training function of apoplexy and similar conditions patient carpal joint and forearm can be realized.
Background technology
Apoplexy (also claiming apoplexy) is the healthy disease of serious threat middle-aged and elderly people, and along with China progresses into aging society, sickness rate has the trend risen year by year.This disease has caused forfeiture and the related complication of limbs of patient motor function.Especially the forfeiture of upper extremity exercise function, greatly have impact on the ability of patient's daily life.Largely depend on treating physician to the man-to-man naturopathy of patient to the method for rehabilitation of hemiplegic patient clinically, such method is the process that a kind of labour concentrates, and not only wastes time and energy, and also lacks and quantizes and objective appraisal.The development of robotics and provide a good opportunity with the healing robot research that is combined into of clinical rehabilitation medicine, robot and correlation technique thereof is utilized to carry out objective monitoring and evaluation to training process, improve specific aim and the science of hemiparalysis recovery training, treating physician is freed from heavy physical work simultaneously, for patient formulates better rehabilitation scheme, improve the efficiency of rehabilitation further.
As a kind for the treatment of tool of rehabilitation, healing robot should provide various, effective motor pattern.From the experience of clinical rehabilitation medicine; the motor pattern of robot should be applicable to the different state of an illness and difference convalescent patient; and contribute to recovering patient's daily routines function, this all has considerable effect to maintenance patient to the sensation of proper exercise and enhancing patient self-confidence.Current upper limb rehabilitation robot form is comparatively single, all in the majority to connect, application number be 200710168725.1 Chinese patent a kind of Wearable hands function robot and control system are disclosed, complex structure, takes up room large, a chain length, weight is large, needs larger driving force to drive.So just cause robot motion steady not, be difficult to the rehabilitation efficacy reaching expection, even can produce harmful effect to the state of an illness of patient.
The series parallel type space three-freedom healing robot that the present invention proposes can realize the internal/external rotations of forearm, and the stretching/bend of wrist, and above revolves/these three actions of backspin.Compared to traditional tandem healing robot, this series parallel type healing robot structure is simple, and relative rigidity is large, and end precision is high, operates steadily, and is easy to control, more contributes to patient and reach forearm and carpal rehabilitation training effect.
Summary of the invention
The invention provides a kind of upper limb rehabilitation robot based on hybrid mechanism, effectively can solve the deficiency of existing rehabilitation mechanical, reach the movement effects of expection simply and easily, well in conjunction with the practical situation of patient, realize effective forearm and carpal rehabilitation training.
The present invention is achieved by the following technical solutions: design a kind of series parallel type Three Degree Of Freedom healing robot being applicable to forearm and carpal joint rehabilitation training, it can realize rotating around the attitude of X, Y, Z axis, and patient can be helped to obtain good carpal joint and forearm training.
A kind of three-degree of freedom parallel serial upper limb rehabilitation robot is formed by stacking by a parallel institution and a series connection revolute pair, and described parallel institution is connected silent flatform by moving platform formed by side chain AB, side chain CD, side chain EF, and described side chain AB is that two connecting rods pass through
pair connects to form, and the bottom of side chain AB is passed through
pair is connected on silent flatform, and the top of side chain AB is passed through
pair is connected on moving platform; Side chain EF is that two connecting rods pass through
pair connects to form, and the bottom of side chain EF is passed through
pair is connected on silent flatform, and the top of side chain EF is passed through
pair is connected on moving platform, and the bottom of side chain CD is passed through
duplicate invoice is connected on silent flatform, and the top of side chain CD is passed through
duplicate invoice is connected on moving platform; Described series connection revolute pair is by R pair series connection rotatable platform on moving platform; Described silent flatform, moving platform and rotatable platform are circular, and the axis of moving platform and rotatable platform is in same straight line.
secondary,
secondary,
secondary mutually in 120 ° of distributions (ACE is equilateral triangle) on moving platform,
secondary,
secondary,
secondary mutually in 120 ° of distributions (BDF is equilateral triangle) on silent flatform, and
secondary,
secondary,
secondary axis is mutually in 60 ° of angles, rotatable platform is connected on moving platform by R duplicate invoice, the dead in line of axis of rotation and moving platform, motor is vertically fixed on moving platform, pinion ring gear is fixed on motor output shaft, external toothing engages with the gear wheel being fixed on rotatable platform, and handle is fixed on above rotatable platform, and CD is positioned opposite for calcaneus branches chain.
The invention has the beneficial effects as follows: this series-parallel connection Three Degree Of Freedom robot takes up room little, structure is simple, relative rigidity is large, and end precision is high, is easy to control, with low cost, the attitude that can realize well around X, Y, Z axis is rotated, and is convenient to drive, and movement effects is good, different drivings can be set according to the state of an illness of patient, reach different rehabilitation training effects.
Accompanying drawing explanation
A kind of three-degree of freedom parallel serial upper limb rehabilitation robot structural scheme of mechanism of Fig. 1.
A kind of three-degree of freedom parallel serial upper limb rehabilitation robot mechanism of Fig. 2 top view.
A kind of three-degree of freedom parallel serial upper limb rehabilitation robot mechanism of Fig. 3 left view.
In figure, 1, hands handle; 2, rotatable platform; 3, side chain AB; 4, silent flatform; 5, side chain CD; 6, side chain EF; 7, moving platform; 8, gear wheel; 9, pinion; 10, motor.
Detailed description of the invention
Namely moving platform 7 is connected with silent flatform (4) by side chain AB3, side chain CD (5), side chain EF (6) by three side chains.Wherein side chain AB (3) by
secondary,
secondary,
secondary composition, side chain EF (6) by
secondary,
secondary,
secondary composition, wherein
secondary,
pair is connected on silent flatform (4) respectively, middle placement
secondary,
pair,
secondary,
pair is connected on moving platform (7) respectively, side chain CD (5) then by
secondary,
secondary composition,
duplicate invoice is connected on silent flatform (4),
duplicate invoice is connected on moving platform (7), and
secondary,
secondary,
secondary mutually in 120 ° of distributions (ACE is equilateral triangle) on moving platform (7),
secondary,
secondary,
secondary mutually in 120 ° of distributions (BDF is equilateral triangle) on silent flatform (4), and
secondary,
secondary, secondary axis is 60 ° of angles mutually, rotatable platform (2) is connected on moving platform (7) by R duplicate invoice, the dead in line of axis of rotation and moving platform (7), motor (10) is vertically fixed on moving platform (7), pinion (9) ring gear is fixed on motor output shaft, external toothing engages with the gear wheel (8) being fixed on rotatable platform (2), handle (1) is fixed on above rotatable platform (2), calcaneus branches chain CD(5) positioned opposite.When arm stretches into, be held by the handle (1) be consolidated in above rotatable platform (2), by driving
secondary,
secondary cooperation, moving platform (7) can realize the rotation around X, Y-axis, and then realize wrist joint around X, Y-axis two-dimensional rotary, drive rotatable platform (2) rotation of rotatable platform (2) around Z axis can be realized relative to the rotation of moving platform (7) by motor (10), thus realize the rotation of forearm.
The present invention adopts series parallel type mechanism, relative rigidity is large, end precision is high, take up room little, structure is simple, and patient does not need the heavy burden overcoming too much mechanism, and be easy to control, driving can be regulated according to the different situations of the carpal joint of patient and forearm, so realize hand carpal joint or forearm motor control, to realize the rehabilitation efficacy of expecting; Also it should be noted that, the present invention also can be applicable in the rehabilitation training of ankle arthrosis, realizes the two-dimensional rotary around X, Y-axis of ankle arthrosis, coordinates patient to reach corresponding rehabilitation effect.
Claims (1)
1. a three-degree of freedom parallel serial upper limb rehabilitation robot, it is characterized in that: be formed by stacking by a parallel institution and a series connection revolute pair, described parallel institution is connected silent flatform (4) by moving platform (7) formed by side chain AB (3), side chain CD (5), side chain EF (6), and described side chain AB (3) is that two connecting rods pass through
pair connects to form, and the bottom of side chain AB (3) is passed through
pair is connected on silent flatform (4), and the top of side chain AB (3) is passed through
pair is connected on moving platform (7); Side chain EF (6) is that two connecting rods pass through
pair connects to form, and the bottom of side chain EF (6) is passed through
pair is connected on silent flatform (4), and the top of side chain EF (6) is passed through
pair is connected on moving platform (7), and the bottom of side chain CD (5) is passed through
duplicate invoice is connected on silent flatform (4), and the top of side chain CD (5) is passed through
duplicate invoice is connected on moving platform (7); Described series connection revolute pair is by R pair series connection rotatable platform (2) on moving platform (7); Described silent flatform (4), moving platform (7) and rotatable platform (2) are for circular, and the axis of moving platform (7) and rotatable platform (2) is in same straight line; Described rotatable platform (2) is provided with handle (1); Also comprise motor (10) and pinion (9), described rotatable platform (2) cylindrical is provided with external tooth, motor (10) is vertically fixed on moving platform (7), the ring gear of pinion (9) is fixed on the output shaft of motor (10), the external toothing of pinion (9) and the external tooth engagement of rotatable platform (2); The top of described side chain AB (3), side chain CD (5) and side chain EF (6) is connected on moving platform (7)
secondary,
secondary and
pair is circumferentially uniformly distributed in 120 ° mutually, and the bottom of described side chain AB (3), side chain CD (5) and side chain EF (6) is connected on silent flatform (4)
secondary,
secondary and
pair is circumferentially uniformly distributed in 120 ° mutually, and
secondary,
secondary and
secondary axis is mutually in 60 ° of angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310020668.8A CN103083156B (en) | 2013-01-21 | 2013-01-21 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310020668.8A CN103083156B (en) | 2013-01-21 | 2013-01-21 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
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| Publication Number | Publication Date |
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| CN103083156A CN103083156A (en) | 2013-05-08 |
| CN103083156B true CN103083156B (en) | 2015-03-04 |
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| CN201310020668.8A Expired - Fee Related CN103083156B (en) | 2013-01-21 | 2013-01-21 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104382723B (en) * | 2014-11-24 | 2016-08-24 | 江苏大学 | Carpal joint healing robot |
| CN104983547A (en) * | 2015-07-10 | 2015-10-21 | 哈尔滨天愈康复医疗机器人有限公司 | Three-degree-of-freedom wearable ankle rehabilitation medical robot |
| CN104983541B (en) * | 2015-07-10 | 2017-10-10 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of Spatial Parallel drives wrist robots for rehabilitation therapy |
| CN107007429B (en) * | 2017-04-10 | 2019-04-30 | 江苏大学 | A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution |
| CN110678157B (en) * | 2017-05-26 | 2023-06-13 | 墨尔本大学 | Electromechanical robot manipulator device |
| CN109498372A (en) * | 2018-12-27 | 2019-03-22 | 广州云瑞信息科技有限公司 | A kind of novel three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN110279469A (en) * | 2019-05-16 | 2019-09-27 | 中国科学院深圳先进技术研究院 | A kind of robot |
| CN111904801A (en) * | 2020-09-21 | 2020-11-10 | 东北大学秦皇岛分校 | Series-parallel flexible ankle joint rehabilitation device |
| CN113476270B (en) * | 2021-06-24 | 2022-08-05 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| CN114712157B (en) * | 2022-04-02 | 2024-01-12 | 河南科技大学 | Wrist joint training robot based on three-degree-of-freedom parallel mechanism |
| CN115569034A (en) * | 2022-10-11 | 2023-01-06 | 哈尔滨理工大学 | Knee joint rehabilitation parallel structure design |
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| CN101006958A (en) * | 2007-01-23 | 2007-08-01 | 四川大学 | Ankle joint rehabilitation training device |
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| CN201861913U (en) * | 2010-11-29 | 2011-06-15 | 沈阳理工大学 | Ankle joint active movement equipment |
| WO2012042471A1 (en) * | 2010-09-28 | 2012-04-05 | C.N.R. Consiglio Nazionale Ricerche | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
| CN203244559U (en) * | 2013-01-21 | 2013-10-23 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004008744A (en) * | 2002-06-06 | 2004-01-15 | Kensei Go | Upper limb rehabilitation assisting apparatus |
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Patent Citations (7)
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| CN101006958A (en) * | 2007-01-23 | 2007-08-01 | 四川大学 | Ankle joint rehabilitation training device |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
| WO2012042471A1 (en) * | 2010-09-28 | 2012-04-05 | C.N.R. Consiglio Nazionale Ricerche | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
| CN201861913U (en) * | 2010-11-29 | 2011-06-15 | 沈阳理工大学 | Ankle joint active movement equipment |
| CN101999970A (en) * | 2010-12-24 | 2011-04-06 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
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