CN103908394B - A kind of portable two degrees of freedom wrist joint healing robot - Google Patents
A kind of portable two degrees of freedom wrist joint healing robot Download PDFInfo
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- CN103908394B CN103908394B CN201410132956.7A CN201410132956A CN103908394B CN 103908394 B CN103908394 B CN 103908394B CN 201410132956 A CN201410132956 A CN 201410132956A CN 103908394 B CN103908394 B CN 103908394B
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Abstract
The present invention discloses a kind of portable two degrees of freedom wrist joint healing robot, comprises and is worn on arm frame outside human body forearm, is worn on the back of the hand frame at human body the back of the hand place and connects both two degrees of freedom driving mechanisms; Two degrees of freedom driving mechanism comprises slip mechanism, pneumatic muscles mechanism, rotates joint, drive connecting rod, follower link, rotates joint by the control of the motivating force of pneumatic muscles thus drive connecting rod, follower link is driven that the back of the hand frame realizes wrist joint bends and stretches rehabilitation training; Two degrees of freedom driving mechanism also comprises center stand column, arc-shaped rack, cylindrical gear, guide rail are fixed on outside described the back of the hand frame, drives the rotation of circular gear to realize the oscillating motion that the back of the hand frame drives wrist by motor. According to the joint recovering robot of the present invention, it is possible to be beneficial to portability and family expenses, the control rotating joint angle is served the effect that gain is amplified.
Description
Technical field
The present invention relates to medical instruments field, specifically a kind of portable two degrees of freedom wrist joint recovery exercising robot, is specially adapted to the early stage wrist joint rehabilitation training of stroke patient.
Background technology
Along with the aggravation of China's aging population, with the health problem in aging process, physiological function decline causes the handiness of four limbs constantly to decline, and in aged crowd, cerebral apoplexy is as the middle-aged and old healthy disease of serious threat, and sickness rate has the trend risen year by year. This kind of disease can cause the forfeiture of limbs of patient motor function, i.e. hemiplegia. And upper limb hemiplegia have impact on the daily life ability of patient especially greatly. At present, on clinical, the treatment of hemiplegia patient is depended on the empty-handed training one to one for the treatment of teacher, while wasting time and energy, also lack quantification and objective appraisal. For the problem of rehabilitation training process, safety, the robot-aided training technology that quantitatively can carry out repetition training are arisen at the historic moment. Research shows, the reconstruction of the motor function of patient and rehabilitation are useful by the auxiliary training of healing robot.
At present, for the research of upper limb rehabilitation robot, external recovering aid Therapy robot equipment is existing a lot; And studies in China is started late, but some scientific research institutions and colleges and universities have also launched research, and achieve gratifying progress, a kind of two degrees of freedom upper limb rehabilitation robot as disclosed in CN103417361A, the early stage upper limb rehabilitation robot of the cerebral apoplexy of three degree of freedom disclosed in CN103340734A, a kind of three-degree of freedom parallel serial upper limb rehabilitation robot disclosed in CN103083156A, but there is following problem in existing research: and (1) complex structure, quality are big, it may also be useful to inconvenience; (2) cost height, expensive; (3) main body drives rigidity big, flexible poor, and this causes upper limb rehabilitation robot to be difficult to the basic reason popularized towards patient family.
Summary of the invention
For the above defect of prior art, it is an object of the invention to propose a kind of portable two degrees of freedom wrist joint healing robot little, that cost is low, kindliness is big of conducting oneself with dignity, and can by compact construction, be convenient to manipulation in the way of realize stroke patient wrist joint pitching and wave rehabilitation training.
For achieving the above object, according to the present invention, provide portable two degrees of freedom wrist joint healing robot, comprise and it is intended to be worn in the arm frame outside human body forearm, the back of the hand frame being intended to be worn in human body the back of the hand place and the two degrees of freedom driving mechanism for connecting described arm frame and the back of the hand frame, wherein:
Described two degrees of freedom driving mechanism comprises slip mechanism, pneumatic muscles mechanism, rotates joint, drive connecting rod and follower link;
Described pneumatic muscles mechanism slides and is arranged at the top of described slip mechanism, slides and be arranged at the side of described slip mechanism in described rotation joint;
Described drive connecting rod one end is connected with described rotation joint output rotating shaft, and the other end is connected with the back of the hand frame, and described follower link one end is connected with another side of described slip mechanism, and the other end is connected with the back of the hand frame;
Described pneumatic muscles mechanism is connected with described rotation joint by lock line and forms transmission rig, and drives rotation joint to move back and forth on the sliding mechanism, thus drives the back of the hand frame to realize the luffing around wrist joint by described drive connecting rod, follower link;
Described two degrees of freedom driving mechanism also comprises center stand column, arc-shaped rack, cylindrical gear, guide rail;
Described center stand column, arc-shaped rack, cylindrical gear, guide rail are fixed on the upside of described the back of the hand frame successively;
The anterior top being anchored on described center stand column by bearing pin of described slip mechanism, back support is on guide rail;
Described slip mechanism is provided with motor, described cylindrical gear is by being connected with described motor output shaft, and engage with described arc-shaped rack and form transmission rig, thus drive slip mechanism and pneumatic muscles mechanism to be that axle moves back and forth along arc-shaped rack taking bearing pin, thus the back of the hand frame is driven to realize the oscillating motion of wrist joint by drive connecting rod, follower link.
Described slip mechanism comprises sliding platform, 4 line slide rails, 4 slide blocks, and slide block is supporting with described line slide rail respectively, for the fixing parts supporting to slide; In described line slide rail, 2 are individually fixed in sliding platform two sides, for supporting the slip rotating joint and follower link, are fixed on sliding platform end face at a certain distance parallel, for supporting the slip of pneumatic muscles mechanism between another 2;
Described pneumatic muscles mechanism comprises 2 pneumatic muscles, 2 pieces of L-shaped pneumatic muscles web plates, front end web plate, rear end web plate;
Described 2 pieces of L-shaped pneumatic muscles web plates are connected with 2 slide blocks of sliding platform end face respectively;
Described front and back ends web plate is individually fixed in face, sliding platform rear and front end;
Described 2 pneumatic muscles opening ends are connected with described rear end web plate, and pneumatic muscles blind end is connected with described 2 pieces of L-shaped pneumatic muscles web plates respectively.
The slide block of described sliding platform two sides is connected with 2 pieces of little web plates respectively, and 2 pieces of little web plates connect rotation joint and follower link.
Described rotation joint is formed by rotating joint drain pan, rotation intraarticular wheel and rotate joint top cover, and described lock line is connected with described rotation intraarticular wheel and forms transmission rig.
Described lock line principle of work is bicycle brake brake line, and lock line crust is equivalent to a track, and interior core is the line that an intensity is high, and when pneumatic muscles motivating force draws interior core, interior core and crust generation relative displacement, by strength transmission to rotation joint;
Further, described center stand column is Z font;
Further, described guide rail is stand upside down T-shaped, utilizes T-shaped vertical portion to slip mechanism supporting along with when arc track carries out oscillating motion, utilizes T-shaped bar to be anyhow fixed on by guide rail on arm frame 1;
By the portable two degrees of freedom wrist joint healing robot according to more than the present invention design, the useful effect of acquisition is: the pneumatic muscles adopting power/deadweight higher, as the driving mechanism of luffing, alleviates the deadweight of device, reduces cost of manufacture; The soft drive of pneumatic muscles is tried hard to keep and is demonstrate,proved patient's training of safety; The driving mechanism waved as wrist joint with miniature motor, has saved Machine Design space; Replace wireline as driving connecting between joint with lock line, avoid the space constraints of tensioning mechanism; Integrated model lighter in weight, it is convenient to dress, and is beneficial to portability and family expenses; Realize wrist joint by the composite motion of circumferential motion and translational motion and bend and stretch action, the control rotating joint angle is served the effect that gain is amplified.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of the portable two degrees of freedom wrist joint recovery exercising robot according to the present invention;
Fig. 2 is the assembling schematic diagram of the sliding platform according to the preferred embodiment of the present invention;
Fig. 3 is the schematic diagram according to the rotation joint wiring layout in the present invention;
Wherein:
1-arm frame 2-the back of the hand frame 3-sliding platform 4-T shape guide rail 5-arc-shaped rack 6-Z font center stand column 7-bearing pin 8,9,10,11-line slide rail 12,13,14, web plate 17-rear end, 15-slide block 16-front end web plate 18, the little web plate of 19-20,21-L shape pneumatic muscles web plate 22-rotate joint 23-drive connecting rod 24-follower link 25, the miniature motor 28-cylindrical gear 29 of 26-pneumatic muscles 27-, 30-lock line 31-rotate intraarticular wheel 32-and rotate joint drain pan 33-and rotate joint top cover
Embodiment
In order to make the object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated. It is to be understood that specific embodiment described herein is only in order to explain the present invention, it is not intended to limit the present invention.
See the assembling schematic diagram that Fig. 1,2, Fig. 1 is the sliding platform being the preferred embodiment according to the present invention according to portable two degrees of freedom recovery exercising robot one-piece construction figure, Fig. 2 of the present invention. As shown in Fig. 1,2, a kind of portable two degrees of freedom wrist joint healing robot, comprises arm frame 1, two degrees of freedom driving mechanism, the back of the hand frame 2;
Arm frame 1 is worn on outside human body forearm by magic band; The back of the hand frame 2 is worn on human body the back of the hand place by magic band;
Two degrees of freedom driving mechanism comprises slip mechanism, pneumatic muscles mechanism, rotates joint 22, drive connecting rod 23 and follower link 24;
Pneumatic muscles mechanism slides and is arranged at the top of described slip mechanism, rotates the side that joint 22 slip is arranged at described slip mechanism;
Drive connecting rod 23 one end is connected with rotation joint 22 output rotating shaft, and the other end is connected with the back of the hand frame 2, and follower link 24 one end is connected with another side of slip mechanism, and the other end is connected with the back of the hand frame 2;
Pneumatic muscles mechanism is by lock line 29,30 with rotation joint 22 be connected formation transmission rig, and drive rotation joint 22 to move back and forth on the sliding mechanism, thus the back of the hand frame 2 is driven to realize the luffing around wrist joint by described drive connecting rod 23, follower link 24;
Slip mechanism comprises sliding platform 3,4 line slide rails 8,9,10,11,4 slide blocks 12,13,14,15, and slide block 12,13,14,15 is supporting with line slide rail 8,9,10,11 respectively, for the fixing parts supporting to slide; In line slide rail, 2 10,11 are individually fixed in sliding platform 3 two sides, for supporting the slip rotating joint 22 and follower link 24, another 2 8,9 by being fixed on sliding platform end face at a certain distance parallel, for supporting the slip of pneumatic muscles mechanism;
Pneumatic muscles mechanism is by lock line 29,30 with rotation joint 22 be connected formation transmission rig, and drive rotation joint 22 to move back and forth on the sliding mechanism, thus the back of the hand frame 2 is driven to realize the luffing around wrist joint by described drive connecting rod 23, follower link 24;
Two degrees of freedom driving mechanism also comprises Z font center stand column 6, arc-shaped rack 5, cylindrical gear 28, T-rail 4;
Z font center stand column 6, arc-shaped rack 5, cylindrical gear 28, T-rail 4 are fixed on the upside of described the back of the hand frame 2 successively;
The anterior top being anchored on described center stand column 6 by bearing pin 7 of slip mechanism, back support is on guide rail 4.
Slip mechanism is provided with motor 27, cylindrical gear 28 is by being connected with described motor 27 output shaft, and engage with described arc-shaped rack 5 and form transmission rig, thus drive slip mechanism and pneumatic muscles mechanism to move back and forth by axle of bearing pin 7 along arc-shaped rack 5, thus the back of the hand frame 2 is driven to realize the oscillating motion of wrist joint by drive connecting rod 23, follower link 24.
Sliding platform 3 is connected with described Z font center stand column 6 through interior embedding bearing by bearing pin 7; Bearing pin 7 end is fastening by jackscrew and described Z font center stand column 6; In line slide rail, 2 10,11 are connected with sliding platform two sides respectively by fastening screw, and another 2 8,9 are fixed on sliding platform 3 end face by a fastening screw segment distance of being separated by parallel; 4 slide blocks 12,13,14,15 are the travel direction of supporting shrinkage direction and connecting rod end to limit pneumatic muscles with described line slide rail 8,9,10,11 respectively; Front and back ends web plate 16,17 is individually fixed in face, sliding platform rear and front end by fastening screw; 2 pieces little web plates 18,19 are connected with the slide block 14,15 of sliding platform two sides to transfer 2 connecting rods 23,24 and slide block 14,15 respectively by fastening screw; 2 pieces of L-shaped pneumatic muscles web plates 20,21 are connected with 2 slide blocks 12,13 of sliding platform end face respectively by fastening screw; Rotate joint 22 to be connected with the little web plate 18 of sliding platform one side by fastening screw; Drive connecting rod 23 one end is connected with rotation joint 22 output shaft by key, and the other end is connected with the back of the hand frame 2 by axle sleeve screw; Follower link 24 one end is connected with the described little web plate 19 of non-rotating articular side by axle sleeve screw, and the other end is connected with the back of the hand frame 2 by axle sleeve screw.
2 pneumatic muscles 25,26 opening ends are connected with described rear end web plate 17 by fastening screw, and pneumatic muscles 25,26 blind end is connected with described 2 pieces of L-shaped pneumatic muscles web plates 20,21 respectively by fastening screw; L-shaped pneumatic muscles web plate 20,21 is connected by lock line 29,30 and described rotation intraarticular wheel 31 and forms transmission rig.
Motor 27 is connected with sliding platform 3 by jackscrew; Cylindrical gear 28 is connected with miniature motor 27 output shaft by jackscrew, and engage with arc-shaped rack 5 and form transmission rig, make electric machine rotation by gear and tooth bar engage drive slip mechanism and pneumatic muscles mechanism entirety arcuately tooth bar 5 move back and forth, what form wrist joint waves action.
Rotate joint 22 as shown in Figure 3, it is made up of rotation joint drain pan 32, rotation intraarticular wheel 31 and rotation joint top cover 33; Wherein rotate intraarticular wheel 31 and be disc structure and in the center of its end face with cylindrical boss, the side inside taking turns disk has been dug crossed beam trunking and crossed string holes, in order to guide the core of bicycle brake brake line, and fix line end; Its angle, 90 degree, cylindrical boss interval, discrete 3 key teeth, in order to carry out inlaying connection for transmission with the keyway in drive connecting rod 23; Inside take turns end face and have 2 sections of through interior grooves taking turns end face and bottom surface of circular arc around cylindrical boss, in order to by fixed/limited screw; Rotating joint drain pan 32 is that hole is dug by end face central authorities, and bores the cylindrical shell of logical 2 apertures in limit, hole symmetry, and on cylindrical shell outer side, edge rotates the cylindrical boss that intraarticular takes turns protruding 2 the band through holes in tangent line direction of 31 crossed beam trunking medullary rays; The effect rotating joint drain pan 32 rotations intraarticular is taken turns 31 wrap up, and makes the cannula end of lock line be limited in the boss end face outside it, and core by the through hole at boss center wear into; Macropore digs in order to by the interior cylinder boss taking turns 31 central authorities in cylindrical shell end face central authorities, and 2 little spacing holes are corresponding with the interior medullary ray taking turns upper 2 sections of arc-shaped slot pass apart from the position at end face centers, in order to by calmly/limited screw; Rotating joint top cover 33 is a thin column, and the spacing hole position of end face corresponding rotation joint drain pan 32 is drilled with 2 same spacing holes in order to by fixed/limited screw; During assembling, 3, rotation joint integral part is connected formation and rotates joint 22 by the groove pass, with 2 long screws, the spacing hole rotating joint top cover 33 successively, rotating intraarticular wheel 31, the spacing hole rotating joint bottom 32, and fixes it on little web plate 18;
The concrete use procedure of this example is as follows:
The flexion/extension motion of wrist joint, adopts " pneumatic muscles to " 25,26 to drive in the way of agonist 25 antagonisitic muscle 26 and rotates joint. When inflating to agonist 25, agonist 25 expands and makes its compresses in length, meanwhile, makes antagonisitic muscle 26 shrink thus make its length extending antagonisitic muscle 26 venting, by above-mentioned " pneumatic muscles to " to drawing effect, be the circumferential motion rotating joint 22 by the translate linear motion of pneumatic muscles.
Drive by " pneumatic muscles to " 25,26 and rotate joints 22 and drive described drive connecting rod 23 to do circumferential motion around axle, thus drive the back of the hand frame 2 to do circumferential motion around wrist joint. The back of the hand frame is when wrist joint does circumferential motion, circumferentially the radial component produced acts on human body the back of the hand, its reactive force is by active, follower link 23,24 transmit, thus promote and rotate joint 22 rearward movement on slideway 10, to compensate the distance change rotated between joint 22 and the back of the hand frame 2. Therefore, by rotating the compound motion that joint 22 rotates and rotates joint 22 and produce along the translational motion of slideway 10, drive the back of the hand frame 2 to be rotated around wrist joint, thus realize the training that wrist joint is carried out pitching action.
The oscillating motion of wrist joint, adopts miniature motor 27 to drive cylindrical gear 28 mode that arcuately tooth bar 5 carries out circumferential motion to realize. Miniature motor 27 is embedded in sliding platform 3, its rotate through gear 28 and arc-shaped rack 5 engage drive whole sliding platform 3 arcuately tooth bar 5 do circumferential motion, thus drive the back of the hand frame 2 to do oscillating motion around wrist joint, wave training with what realize patient's wrist joint.
Those skilled in the art will readily understand; the foregoing is only the better embodiment of the present invention; not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. done within the spirit and principles in the present invention, all should be included within protection scope of the present invention.
Claims (5)
1. a portable two degrees of freedom wrist joint healing robot, comprise and it is worn on the arm frame outside human body forearm (1) by magic band, is worn on the back of the hand frame (2) at human body the back of the hand place by magic band and for connecting described arm frame (1) and the two degrees of freedom driving mechanism of the back of the hand frame (2), wherein:
Described two degrees of freedom driving mechanism comprises slip mechanism, pneumatic muscles mechanism, rotates joint (22), drive connecting rod (23) and follower link (24);
Described pneumatic muscles mechanism slides and is arranged at the top of described slip mechanism, and described rotation joint (22) is slided and is arranged at the side of described slip mechanism;
Described drive connecting rod (23) one end is connected with described rotation joint (22) output rotating shaft, the other end is connected with the back of the hand frame (2), described follower link (24) one end is connected with another side of described slip mechanism, and the other end is connected with the back of the hand frame (2);
Described pneumatic muscles mechanism is by lock line (29,30) formation that is connected with described rotation joint (22) transmission rig, and drive rotation joint (22) to move back and forth on the sliding mechanism, thus the back of the hand frame (2) is driven to realize the luffing around wrist joint by described drive connecting rod (23), follower link (24);
Described two degrees of freedom driving mechanism also comprises center stand column (6), arc-shaped rack (5), cylindrical gear (28), guide rail (4);
Described center stand column (6), arc-shaped rack (5), cylindrical gear (28), guide rail (4) are fixed on the upside of described the back of the hand frame (2) successively;
Described slip mechanism front portion is anchored on the top of described center stand column (6) by bearing pin (7), and back support is on guide rail (4);
Described slip mechanism is provided with motor (27), described cylindrical gear (28) is by being connected with described motor (27) output shaft, and engage with described arc-shaped rack (5) and form transmission rig, thus drive slip mechanism and pneumatic muscles mechanism to move back and forth by axle of bearing pin (7) along arc-shaped rack (5), thus the back of the hand frame (2) is driven to realize the oscillating motion of wrist joint by drive connecting rod (23), follower link (24).
2. portable two degrees of freedom wrist joint healing robot as claimed in claim 1, it is characterised in that,
Described slip mechanism comprises sliding platform (3), 4 line slide rails (8,9,10,11), 4 slide blocks (12,13,14,15), described slide block (12,13,14,15) respectively with described line slide rail (8,9,10,11) supporting, for the fixing parts supporting to slide; In described line slide rail 2 (10,11) sliding platform (3) two sides it are individually fixed in, for supporting the slip rotating joint (22) and follower link (24), another 2 (8,9) by being fixed on sliding platform end face at a certain distance parallel, for supporting the slip of pneumatic muscles mechanism.
3. portable two degrees of freedom wrist joint healing robot as claimed in claim 2, it is characterised in that,
Described pneumatic muscles mechanism comprises 2 pneumatic muscles (25,26), 2 pieces of L-shaped pneumatic muscles web plate (20,21), front end web plate (16), rear end web plate (17);
Described 2 pieces of L-shaped pneumatic muscles web plate (20,21) are connected with 2 slide blocks (12,13) of sliding platform (3) end face respectively;
Described front and back ends web plate (16,17) is individually fixed in sliding platform (3) face, rear and front end;
Described 2 pneumatic muscles (25,26) opening end is connected with described rear end web plate (17), described 2 pneumatic muscles (25,26) blind ends are connected with described 2 pieces of L-shaped pneumatic muscles web plate (20,21) respectively.
4. portable two degrees of freedom wrist joint healing robot as claimed in claim 2 or claim 3, it is characterised in that,
The slide block (14,15) of described sliding platform two sides is connected with 2 pieces of little web plates (18,19) respectively, and 2 pieces of little web plates (18,19) connect rotation joint (22) and follower link (24).
5. portable two degrees of freedom wrist joint healing robot as claimed in claim 4, it is characterized in that, described rotation joint is formed by rotating joint drain pan (32), rotate intraarticular wheel (31) and rotate joint top cover (33), described lock line (29,30) take turns with described rotation intraarticular (31) be connected form transmission rig.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410132956.7A CN103908394B (en) | 2014-04-02 | 2014-04-02 | A kind of portable two degrees of freedom wrist joint healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410132956.7A CN103908394B (en) | 2014-04-02 | 2014-04-02 | A kind of portable two degrees of freedom wrist joint healing robot |
Publications (2)
| Publication Number | Publication Date |
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| CN103908394A CN103908394A (en) | 2014-07-09 |
| CN103908394B true CN103908394B (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410132956.7A Expired - Fee Related CN103908394B (en) | 2014-04-02 | 2014-04-02 | A kind of portable two degrees of freedom wrist joint healing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109646249A (en) * | 2019-02-14 | 2019-04-19 | 河海大学常州校区 | A kind of ankle healing robot |
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| CN106473892A (en) * | 2015-08-26 | 2017-03-08 | 黄石钊 | Carpal joint bends and stretches device |
| CN106584441A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Heavy load mechanical hand mechanism |
| CN106901946B (en) * | 2016-01-12 | 2019-04-26 | 山东海天智能工程有限公司 | Rehabilitation training of upper limbs machine |
| CN105538339B (en) * | 2016-02-23 | 2017-09-29 | 中国计量学院 | The change rotating shaft big corner bionic knee joint of antagonism formula pneumatic muscles driving |
| CN108743238B (en) * | 2018-07-09 | 2020-08-21 | 贾晓慧 | Bone joint movement rehabilitation auxiliary device and method |
| CN113230087B (en) * | 2021-04-29 | 2022-06-24 | 南京工业大学 | Flexible wearing sleeve type limb rehabilitation device driven by pneumatic muscles |
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| CN103908394A (en) | 2014-07-09 |
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