CN104490565A - Seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs - Google Patents
Seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs Download PDFInfo
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Abstract
The invention provides a seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs comprises a front arm and wrist joint movement mechanism, an elbow joint movement mechanism, an upper arm movement mechanism, a gravity compensation movement mechanism, a shoulder joint movement mechanisms and a chair mechanism which are sequentially connected. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs is driven and controlled by a motor to help a hemiplegic patient do active and passive training for upper affected limbs, including bending/ stretching of wrist joints, adduction/ abduction movement of the wrist joints, inward/ outward rotating movement of the front arms, bending/ stretching of elbow joints, bending/ stretching of shoulder joints, inward/ outward rotating movement, and outward swinging/ adduction movement.
Description
Technical field
The present invention relates to a kind of robot, particularly, relate to a kind of seven freedom exoskeleton-type robot for the training of upper limb hemiplegia Rehabilitation.
Background technology
Apoplexy, is commonly called as apoplexy, is a kind of acute cerebrovascular disease, has the advantages that sickness rate is high, mortality rate is high, disability rate is high.In recent years, the sickness rate of apoplexy had the trend increased year by year, became the 3rd cause of death after wound, cancerous protuberance, and after wound, second is disabled reason.In the stroke patient of survival, 3/4 is about had to have motor function in various degree and other functional disabilities, wherein dyskinesia incidence rate is the highest, hemiplegia causes life-long disabilities to patients with cerebral apoplexy, severe patient loses self care ability and ability to work, survive with other people are auxiliary by social, the annual daily life spending a large amount of man power and materials to look after them, these are born primarily of social and family.Exercise therapy is outside operation with medicine, a kind of rehabilitation mode the most important and safe, and is proved to be and has positive curative effect.
Traditional exercise rehabilitation training mode is that rehabilitation therapist completes a series of motion by manpower assisting patients, inevitably there is many drawbacks, as large in training process physical demands, training effectiveness is low, training effect is uneven according to the difference of therapist, cannot accurate controlled training parameter, training method machinery repeats.
By the combination of Industrial Robot Technology and rehabilitation training, the medical requirement of physiatrician to rehabilitation training can be realized, the motor relearning helping patient to realize active consciousness to combine with multiple stimulation.Current ectoskeleton upper limb rehabilitation robot is applied to clinical rehabilitation, but in view of rehabilitation exercise is to the security consideration of ectoskeleton upper limb rehabilitation robot, add the cramped construction of exoskeleton robot uniqueness and the space motion requirement of rehabilitation training, based on mechanics feedback control mode to exoskeleton robot passive exercise, power-assist motion and resistive exercise application on propose higher design and control overflow.This is also affect the key research that power-assisted is in progress in healing robot field.Only by simple position sensing determination motion mode, can not meet the requirement of safety far away, also affect the auxiliomotor effect of rehabilitation.And be the safety ensureing that rehabilitation exercise is higher, upper limb rehabilitation robot needs the mechanics parameter grasping the motion of each joint freedom degrees in real time, by to the collection of mechanics parameter and computing, feed back in control system, and as benchmark with reference to the assisted movement controlling exoskeleton robot.
Through finding prior art retrieval, Chinese invention patent publication number CN101357097A, title: five-freedom degree dermaskeleton type upper limb rehabilitation robot, this project organization comprises the installing rack of robot, installing rack is designed with guide rail, crane installed by guide rail, with height adjustment mechanism on crane, rotatable hold-down arm is arranged on crane by rotating shaft, by horizontal shoulder, upper arm, the rehabilitation mechanical arm body that forearm and handle are formed is arranged on rotatable hold-down arm, 5 joint freedom degrees, 5 drive electronics to be arranged on respectively on the turning cylinder in each joint, shoulder is arranged on respectively with four torque sensors of drive motors cascade, ancon and wrist, wherein, shoulder two, ancon one, wrist bends and stretches one, place, torque sensor connects motor reducer and actuator as actuating device and testing fixture.This machine people provides the single dof mobility in each joint and three-dimensional multi-joint compound motion for patient, and provides simple, basic activities of daily life training.
This invention can assist the training of upper limb five degree of freedom, but can do nothing to help assisting patients and carry out the medial rotation in upper limb shoulder joint/revolve outer motion, and outside and the medial rotation of forearm/revolve, and the motion of these two kinds of degree of freedom is combined among upper limb compound motion.Further, the control motor that this invention is selected and torque sensor cause structure not compact, and overall weight is excessive, be unfavorable for using, the mechanism of round sealed is unfavorable for that the safety of sufferer is dressed and departs from, and meanwhile, does not consider the gravity compensation of robot body and suffering limb.Therefore, this mechanism, when auxiliary upper limb carries out rehabilitation training, has certain limitation.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of seven freedom dermaskeleton type upper limb rehabilitation robot, can pass through drive and control of electric machine, auxiliary for hemiparalysis patient carries out active and passive exercise to upper limb suffering limb, comprising: carpal flexion/extension, abduction/adduction; Outside the medial rotation of forearm/revolve; The flexion/extension of elbow joint; The flexion/extension of shoulder joint, medial rotation/revolve outer, outer pendulum/adduction.
For realizing above object, the invention provides a kind of seven freedom dermaskeleton type upper limb rehabilitation robot, comprising: be successively connected forearm and wrist joints sporting mechanism, elbow joint motion mechanism, humeral movement mechanism, gravity compensation motion, shoulder joint kinesitherapy mechanism, chair mechanism;
Described forearm and wrist joints sporting mechanism, auxiliary for hemiparalysis patient realizes the medial rotation of forearm/revolve outer motion, carpal bent flexion/extension exhibition motion, carpal adduction/abduction exercise to upper limb suffering limb;
Described elbow joint motion mechanism, auxiliary for hemiparalysis patient realizes the bent flexion/extension exhibition motion of elbow joint to upper limb suffering limb;
Described humeral movement mechanism, auxiliary for hemiparalysis patient realizes the medial rotation of shoulder joint/revolve outer motion to upper limb suffering limb;
Described gravity compensation motion: according to stressed difference, for the forearm that links together and wrist joints sporting mechanism, elbow joint motion mechanism, humeral movement mechanism and upper limb provide elastic support; Within the scope of elastic movement, realize the bent flexion/extension exhibition motion of shoulder joint, provide a passive freedom degree, auxiliary its indefinite axle center of shoulder joint self adaptation simultaneously;
Described shoulder joint kinesitherapy mechanism, auxiliary for hemiparalysis patient realizes the outer pendulum/adduction motion of shoulder joint to upper limb suffering limb;
Described chair mechanism, provides user sitting posture to use, restriction user position.
Preferably, described forearm and wrist joints sporting mechanism, comprise holding rod, first knee, first axle, clutch shaft bearing, second knee, first belt pulley, first belt, second belt pulley, second axle, second bearing, shaft coupling, first motor cabinet, second motor cabinet, 3rd motor cabinet, first motor, 3rd knee, forearm plate, 3rd bearing, 3rd axle, 3rd belt pulley, second belt, 4th belt pulley, 4th axle, cylindrical bearing, first bevel gear, second bevel gear, second motor, 4th motor cabinet, 5th motor cabinet, 6th motor cabinet and U-loop, wherein: holding rod afterbody to insert in the first knee and fastening, it is fastening that first knee and the first belt pulley pass through the first axle, between the first axle and the second knee, clutch shaft bearing is housed, first motor cabinet, the second motor cabinet, the 3rd motor cabinet are fastened on the second knee, first motor is fixed in the first motor cabinet, the second motor cabinet, the 3rd motor cabinet, first motor is connected by shaft coupling with the second axle, second bearing is housed between the second axle and the second knee, second belt pulley is fixed on the second axle top, and the first belt is housed between the second belt pulley and the first belt pulley, 3rd knee one end and the second knee are fastenedly connected, the other end and the 3rd axle fastening, one end of the 3rd axle is fastening with the 3rd belt pulley, the other end is connected by the 3rd bearing with forearm plate, forearm plate inserts in U-loop, and can adjust according to concrete length dragging relative position, and the 4th axle is connected by cylindrical bearing with between the first bevel gear, and the first bevel gear is fastened in the 4th belt pulley, and the 4th the tip of the axis is fixed in U-loop notch, 3rd belt pulley is connected by the second belt with the 4th belt pulley, 4th motor cabinet, the 5th motor cabinet, the 6th motor cabinet are fastened on forearm plate, and the second motor is fixed in the 4th motor cabinet, the 5th motor cabinet, the 6th motor cabinet, and the second bevel gear is fastened on the second motor.
More preferably, described holding rod is provided with holding rod rubber sleeve, and rubber sleeve is according to hand-type customization during people's hand-held pole, and facilitate the screens of tiger's jaw, and drive Wrist-sport, holding rod rubber sleeve is locked on holding rod.
Preferably, described elbow joint motion mechanism, comprise the first elbow joint plate, the second elbow joint plate, the first elbow joint half U-board, the second elbow joint half U-board, the first elbow joint bearing, the second elbow joint bearing, the first elbow joint axle, the second elbow joint axle, the first elbow joint belt pulley, the second elbow joint belt pulley, elbow joint belt, elbow joint motor mounting, the first elbow joint motor cabinet, the second elbow joint motor cabinet, the 3rd elbow joint belt pulley, elbow joint motor, wherein: one end of first elbow joint plate one end and the first elbow joint axle is fastening; The other end and the first elbow joint belt pulley of the first elbow joint axle are fastening; First elbow joint axle is connected by bearing with the first elbow joint half U-board; One end of second elbow joint plate one end and the second elbow joint axle is fastening, and the other end and the second elbow joint belt pulley of the second elbow joint axle are fastening; Second elbow joint axle is connected by bearing fit with the second elbow joint half U-board; First elbow joint half U-board and the second elbow joint half U-board symmetry are fixed on elbow joint motor mounting; First elbow joint motor cabinet, the second elbow joint motor cabinet are fixed on elbow joint motor mounting; Elbow joint motor is fixed in the first elbow joint motor cabinet, the second elbow joint motor cabinet; 3rd elbow joint belt pulley is fastened on elbow joint motor output end; Second elbow joint belt pulley is connected by elbow joint belt with the 3rd elbow joint belt pulley; When elbow joint motor carries out upset switching installation, the 3rd elbow joint belt pulley be fixed thereon, the first elbow joint motor cabinet will be connected with the first elbow joint belt pulley by elbow joint belt;
The first elbow joint plate other end of elbow joint motion mechanism and the U-loop lower end of forearm and wrist joints sporting mechanism fastening, the second elbow joint plate other end of elbow joint motion mechanism and the U-loop upper end of forearm and wrist joints sporting mechanism fastening, thus realize the connection of elbow joint motion mechanism and forearm and wrist joints sporting mechanism.
More preferably, the side vertical direction correspondence position that the first described support frame component side vertical direction correspondence position relative with the 3rd support frame component is provided with groove, the second support frame component relative with the 4th support frame component is also provided with groove, and the first cylindrical bar, the second cylindrical bar and the left and right end of three cylindrical bar to be positioned in described groove and to be clamped by securing member.
More preferably, the first described elbow joint plate, the second elbow joint plate, the first elbow joint half U-board, the second elbow joint half U-board are respectively provided with securing member, for the machinery safe spacing when moving.
Preferably, described humeral movement mechanism, comprises half-dome base, first semicircle cover plate, second semicircle cover plate, first arc-shaped guide rail external member, second arc-shaped guide rail external member, upper arm plate, upper arm bracing frame, first stand, second stand, first straight baffle plate, second straight baffle plate, first U-shaped baffle plate, second U-shaped baffle plate, first upper arm motor cabinet, second upper arm motor cabinet, upper arm motor, upper arm shaft coupling, upper arm bearing, upper arm axle, wherein: first, the track of the second arc-shaped guide rail external member to be fixed on half-dome base both sides and symmetrically mirror-image arrangement, and first, the slide block of the second arc-shaped guide rail external member is separately fixed at second, on first semicircle cover plate, first, second stand is separately fixed at first, on second semicircle cover plate, upper arm bracing frame is fixed on the first stand, the first U-shaped baffle plate, second U-shaped baffle plate is fixed on second, on first semicircle cover plate, half-dome base and upper arm plate fastening, first, second upper arm motor cabinet is fastened on upper arm plate, and upper arm motor is placed in first, in second upper arm motor cabinet, upper arm motor output shaft is connected by upper arm shaft coupling with upper arm axle, and upper arm axle is connected by upper arm bearing with half-dome base, first straight baffle plate two ends are fixed on the first stand and the second stand upper end respectively by securing member, and the second straight baffle plate two ends are separately fixed at the first stand and the second stand lower end by securing member,
The second stand on second semicircle cover plate of humeral movement mechanism is fixedly connected with elbow joint motor mounting one end of elbow joint motion mechanism, thus realizes humeral movement mechanism and be connected with elbow joint motion mechanism.
Preferably, described gravity compensation motion, comprises the first supporting rod seat, support bar, the second supporting rod seat, the first support frame component, the second support frame component, the 3rd support frame component, the 4th support frame component, the first cylindrical bar, the second cylindrical bar, three cylindrical bar, column tube, rotating seat, the first Upright post base, the second Upright post base; Wherein: one end of support bar is connected with the first supporting rod seat, the other end is connected with the second supporting rod seat; First supporting rod seat to be enclosed within column tube and to lock; Second supporting rod seat is connected with the 4th support frame component with the second support frame component; Second support frame component is connected with the 4th support frame component and cooperatively interacts, first support frame component is connected with the 3rd support frame component and cooperatively interacts, and the first cylindrical bar, the second cylindrical bar and three cylindrical bar are clamped by the first support frame component and the 3rd support frame component, the second support frame component and the 4th support frame component respectively; First support frame component is connected with one end of rotating seat with the 3rd support frame component, the other end of rotating seat connects column tube, the middle part of column tube and bottom are separately installed with the first Upright post base, the second Upright post base, and the first supporting rod seat is between the first Upright post base, the second Upright post base;
The upper arm plate of the first support frame component of gravity compensation motion, the second support frame component and humeral movement mechanism is connected and fixed, thus realizes the connection of gravity compensation motion and humeral movement mechanism.
Preferably, described shoulder joint kinesitherapy mechanism, comprise shoulder joint motor, the first shoulder joint support, the second shoulder joint support, the first shoulder joint stay pipe, universal wheel, wheel seat, the 3rd shoulder joint support, the 4th shoulder joint support, the second shoulder joint stay pipe, wherein: one end of shoulder joint motor output shaft and the first shoulder joint support is fastening; The other end of the first shoulder joint support, one end of the second shoulder joint support to be all enclosed within the first shoulder joint stay pipe and to lock; Wheel seat is screwed in the bottom of the first shoulder joint stay pipe; Universal wheel is fastened on wheel seat; One end of 3rd shoulder joint support and the 4th shoulder joint support is enclosed within the first shoulder joint stay pipe, the other end is enclosed within the second shoulder joint stay pipe and lock;
The second shoulder joint stay pipe that first Upright post base of gravity compensation motion, the second Upright post base are enclosed within shoulder joint kinesitherapy mechanism is locked, thus realizes the connection of shoulder joint kinesitherapy mechanism and gravity compensation motion.
Preferably, described chair mechanism, comprises seat frame, seat frame flat board, medicated cushion, back cushion, motor frame plate, seat axle and motor cabinet, wherein: seat frame flat board is fixed on seat frame; Medicated cushion is placed on seat frame flat board; Back cushion covers on the backrest of seat frame; Motor cabinet is fixed on seat frame side; Motor frame plate is fixed on motor cabinet; The ring flange of seat axle is fixed on seat frame flat board;
The shoulder joint motor of shoulder joint kinesitherapy mechanism is placed in the motor frame plate of chair mechanism, and the second shoulder joint support other end of shoulder joint kinesitherapy mechanism is enclosed within the seat axle of chair mechanism, thus realizes the connection of shoulder joint kinesitherapy mechanism and chair mechanism.
Compared with prior art, the present invention has following beneficial effect:
The present invention is by drive and control of electric machine, and auxiliary for hemiparalysis patient carries out active and passive exercise to upper limb suffering limb, comprising: carpal flexion/extension, abduction/adduction; Outside the medial rotation of forearm/revolve; The flexion/extension of elbow joint; The flexion/extension of shoulder joint, medial rotation/revolve outer, outer pendulum/adduction.Employing invention increases training effectiveness, accurate training parameter, and compact conformation, is beneficial to popularization.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the structural representation of forearm of the present invention and wrist joints sporting mechanism;
Fig. 3 is the structural representation of elbow joint motion mechanism of the present invention;
Fig. 4 is the structural representation of humeral movement mechanism of the present invention;
Fig. 5 is the structural representation of gravity compensation motion of the present invention;
Fig. 6 is the structural representation of shoulder joint kinesitherapy mechanism of the present invention;
Fig. 7 is the structural representation of chair mechanism of the present invention;
In figure:
Forearm and wrist joints sporting mechanism 1, elbow joint motion mechanism 2, humeral movement mechanism 3, gravity compensation motion 4, shoulder joint kinesitherapy mechanism 5, chair mechanism 6;
Holding rod rubber sleeve 101, holding rod 102, first knee 103, first axle 104, clutch shaft bearing 105, second knee 106, first belt pulley 107, first belt 108, second belt pulley 109, second axle 110, second bearing 111, shaft coupling 112, first motor cabinet 113, second motor cabinet 114, 3rd motor cabinet 115, first motor 116, 3rd knee 117, forearm plate 118, 3rd bearing 119, 3rd axle 120, 3rd belt pulley 121, second belt 122, 4th belt pulley 123, 4th axle 124, cylindrical bearing 125, first bevel gear 126, second bevel gear 127, second motor 128, 4th motor cabinet 129, 5th motor cabinet 130, 6th motor cabinet 131, block 132, U-loop 133,
First elbow joint plate 201, second elbow joint plate 202, first elbow joint half U-board 203, second elbow joint half U-board 204, first elbow joint axle 205, second elbow joint axle 206, first elbow joint belt pulley 207, second elbow joint belt pulley 208, elbow joint belt 209, the 3rd elbow joint belt pulley 210, first elbow joint motor cabinet 211, second elbow joint motor cabinet 212, elbow joint motor mounting 213, elbow joint motor 214;
Half-dome base 301, the first semicircle cover plate 302, second semicircle cover plate 303, first arc-shaped guide rail external member 304, second arc-shaped guide rail external member 305, upper arm plate 306, the first upper arm motor cabinet 307, second upper arm motor cabinet 308, upper arm motor 309, upper arm shaft coupling 310, upper arm bearing 311, upper arm axle 312, wire 313, the first U-shaped baffle plate 314, the straight baffle plate 317 of second U-shaped baffle plate 315, first straight baffle plate 316, second, upper arm bracing frame 318, first stand 319, second stand 320;
First supporting rod seat 401, support bar 402, second supporting rod seat 403, first support frame component 404, second support frame component 405, the 3rd support frame component 406, the 4th support frame component 407, first cylindrical bar 408, second cylindrical bar 409, three cylindrical bar 410, axle 411, column tube 412, rotating seat 413, bearing 414, bearing 415, first Upright post base 416, bearing 417, second Upright post base 418, bearing 419, back shaft 420 and bearing 421;
Shoulder joint motor 51, first shoulder joint support 52, second shoulder joint support 53, first shoulder joint stay pipe 54, universal wheel 55, wheel seat 56, the 3rd shoulder joint support the 57, four shoulder joint support 58, second shoulder joint stay pipe 59;
Chair mechanism 6, comprises seat frame 61, seat frame flat board 62, medicated cushion 63, back cushion 64, motor frame plate 65, seat axle 66 and motor cabinet 67.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 2, rotating shaft J1 is the rotation axis of the first axle 104; Rotating shaft J2 is the first motor 116 rotation axis; The rotation axis of rotating shaft J3 the 3rd axle 120, the 3rd belt pulley 121; Rotating shaft J4 is the rotation axis of the 4th belt pulley 123.
As shown in Figure 3, rotating shaft J5 is elbow joint motor 214 rotation axis; Rotating shaft J6 is the first elbow joint axle 205 and the second elbow joint axle 206 rotation axis.
As shown in Figure 4, rotating shaft J7 is upper arm motor 309 rotation axis; Rotating shaft J8 is center of arc's axis of half-dome base 301, first semicircle cover plate 302, second semicircle cover plate 303.
As shown in Figure 5, rotating shaft J9 is axle 414 rotation axis.
As shown in Figure 6, rotating shaft J10 is shoulder joint motor 51 rotation axis.
As shown in Figure 1, the present embodiment provides a kind of seven freedom dermaskeleton type upper limb rehabilitation robot, comprise forearm and wrist joints sporting mechanism 1, elbow joint motion mechanism 2, humeral movement mechanism 3, gravity compensation motion 4, shoulder joint kinesitherapy mechanism 5 and chair mechanism 6, wherein, forearm is connected with elbow joint motion mechanism 2 with wrist joints sporting mechanism 1, elbow joint motion mechanism 2 is connected with humeral movement mechanism 3, humeral movement mechanism 3 is connected with gravity compensation motion 4, gravity compensation motion 4 is connected with shoulder joint kinesitherapy mechanism 5, shoulder joint kinesitherapy mechanism 5 is connected with chair mechanism 6.
Described forearm and wrist joints sporting mechanism, auxiliary for hemiparalysis patient realizes the medial rotation of forearm/revolve outer motion, carpal bent flexion/extension exhibition motion, carpal adduction/abduction exercise to upper limb suffering limb;
Described elbow joint motion mechanism, auxiliary for hemiparalysis patient realizes the bent flexion/extension exhibition motion of elbow joint to upper limb suffering limb;
Described humeral movement mechanism, auxiliary for hemiparalysis patient realizes the medial rotation of shoulder joint/revolve outer motion to upper limb suffering limb;
Described gravity compensation motion: according to stressed difference, for the forearm that links together and wrist joints sporting mechanism, elbow joint motion mechanism, humeral movement mechanism and upper limb provide elastic support; Within the scope of elastic movement, realize the bent flexion/extension exhibition motion of shoulder joint, provide a passive freedom degree, auxiliary its indefinite axle center of shoulder joint self adaptation simultaneously;
Described shoulder joint kinesitherapy mechanism, auxiliary for hemiparalysis patient realizes the outer pendulum/adduction motion of shoulder joint to upper limb suffering limb;
Described chair mechanism, provides user sitting posture to use, restriction user position.
As a preferred embodiment of the present invention, as shown in Figure 2, described forearm and wrist joints sporting mechanism 1 comprise holding rod rubber sleeve 101, holding rod 102, first knee 103, first axle 104, clutch shaft bearing 105, second knee 106, first belt pulley 107, first belt 108, second belt pulley 109, second axle 110, second bearing 111, shaft coupling 112, first motor cabinet 113, second motor cabinet 114, 3rd motor cabinet 115, first motor 116, 3rd knee 117, forearm plate 118, 3rd bearing 119, 3rd axle 120, 3rd belt pulley 121, second belt 122, 4th belt pulley 123, 4th axle 124, cylindrical bearing 125, first bevel gear 126, second bevel gear 127, second motor 128, 4th motor cabinet 129, 5th motor cabinet 130, 6th motor cabinet 131, block 132 and U-loop 133, wherein:
Holding rod rubber sleeve 101 is locked on holding rod 102, and holding rod 102 afterbody to insert in the first knee 103 and passes through screw threads for fastening; It is fastening that first knee 103 other end and the first belt pulley 107 pass through the first axle 104; Between the first axle 104 and the second knee 106, clutch shaft bearing 105 is housed, the first axle 104 rotates around rotating shaft J1; First motor cabinet 113, second motor cabinet 114, the 3rd motor cabinet 115 by screw fastening on the second knee 106, first motor 116 is fixed in the first motor cabinet 113, second motor cabinet 114, the 3rd motor cabinet 115, axial location guaranteed by first motor cabinet, but due to parts herein and hold-down screw size less, the second motor cabinet and the 3rd motor cabinet is needed to play auxiliary fixation, first motor is embedded in motor cabinet, can not collide with affect by external force.First motor 116 is connected by shaft coupling 112 with the second axle 110; Second bearing 111, second axle 110 is housed between the second axle 110 and the second knee 106 rotate around rotating shaft J2; Second belt pulley 109 is fixed on the second axle 110 top, between the second belt pulley 109 and the first belt pulley 107, first belt 108 is housed; It is fastening that 3rd knee 117 one end and the second knee 106 pass through screw fastening, the other end and the 3rd axle 120; 3rd axle 120 one end is fastening with the 3rd belt pulley 121, the other end is connected by the 3rd bearing 119 with forearm plate 118 one end, and the 3rd axle 120 rotates around rotating shaft J3; Forearm plate 118 other end inserts in U-loop 133, and can adjust according to concrete length dragging relative position; Be connected by cylindrical bearing 125 between 4th axle 124 with the first bevel gear 126, the first bevel gear 126 is fastened in the 4th belt pulley 123; 4th axle 124 end is fixed in U-loop 133 notch, and the 4th axle 124 rotates around rotating shaft J4; 3rd belt pulley 121 is connected by the second belt 122 with the 4th belt pulley 123; 4th motor cabinet 129, the 5th motor cabinet 130, the 6th motor cabinet 131 are by screw fastening on forearm plate 118, and the second motor 128 is fixed in the 4th motor cabinet 129, the 5th motor cabinet 130, the 6th motor cabinet 131; Second bevel gear 127 is fastened on the second motor 128; Block 132 is fixed on forearm plate 118, and when the 3rd knee 117 rotates around rotating shaft J3 with the 3rd axle 120, the 3rd knee 117 is limited within the scope of finite motion by block 132, as machine security position-limit mechanism.
In the present embodiment, under the drive of the first motor 116 and the second motor 128, described forearm and wrist joints sporting mechanism 1 can realize the passive exercise of forearm and carpal joint three degree of freedom altogether:
1, the medial rotation/revolve outer motion of forearm: the first motor 116 rotates around rotating shaft J2, under the drive of the first motor 116, second belt pulley 109 drives the first belt pulley 107 to rotate by the first belt 108, thus drive the first axle 104 to rotate around rotating shaft J1, namely realize forearm and rotate around rotating shaft J1;
2, carpal bent flexion/extension exhibition motion: the first motor 116 drives handle 102 to rotate around rotating shaft J1, when handle 102 is in same plane with rotating shaft J3 and is fixed on this angle, second motor 128 rotates, by the first bevel gear 126 and the second bevel gear 127 engaged transmission, the 4th belt pulley 123 is driven to rotate, 4th belt pulley 123 drives the 3rd belt pulley 121, the 3rd axle 120, the 3rd knee 117 to rotate around rotating shaft J3 by the second belt 122
3, carpal adduction/abduction exercise: the first motor 116 drives handle 102 to rotate around J1, when handle 102 is vertical with rotating shaft J3 and when being fixed on this angle, the second motor 128 drives carpal joint to rotate around rotating shaft J3.
As a preferred embodiment of the present invention, as shown in Figure 3, described elbow joint motion mechanism 2 comprises the first elbow joint plate 201, second elbow joint plate plate 202, first elbow joint half U-board 203, second elbow joint half U-board 204, first elbow joint axle 205, second elbow joint axle 206, first elbow joint belt pulley 207, second elbow joint belt pulley 208, elbow joint belt 209, the 3rd elbow joint belt pulley 210, first elbow joint motor cabinet 211, second elbow joint motor cabinet 212, elbow joint motor mounting 213 and elbow joint motor 214, wherein:
One end of first elbow joint plate 201 one end and the first elbow joint axle 205 is fastening; The other end and the first elbow joint belt pulley 207 of the first elbow joint axle 205 are fastening; First elbow joint axle 205 is connected by bearing fit with the first elbow joint half U-board 203; One end of second elbow joint plate 202 one end and the second elbow joint axle 206 is fastening, and the other end and the second elbow joint belt pulley 208 of the second elbow joint axle 206 are fastening; Second elbow joint axle 206 is connected by bearing fit with the second elbow joint half U-board 204; First elbow joint half U-board 203 and the second elbow joint half U-board 204 symmetry are fixed on elbow joint motor mounting 213; First elbow joint motor cabinet 211, second elbow joint motor cabinet 212 is fixed on elbow joint motor mounting 213; Elbow joint motor 214 is fixed in the first elbow joint motor cabinet 211, second elbow joint motor cabinet 212; 3rd elbow joint belt pulley 210 is fastened on elbow joint motor 214 outfan; Second elbow joint belt pulley 208 is connected by elbow joint belt 209 with the 3rd elbow joint belt pulley 210.When elbow joint motor 214 carries out upset switching installation, the 3rd elbow joint belt pulley 210, the first elbow joint motor cabinet 211 be fixed thereon will be connected with the first elbow joint belt pulley 207 by elbow joint belt 209; First elbow joint motor cabinet plays axial location effect, the second elbow joint motor cabinet auxiliary positioning, ensures that elbow joint motor is embedded in two motor cabinets, does not affect by external force.
In elbow joint motion mechanism 2 first elbow joint plate 201 other end and forearm and wrist joints sporting mechanism 1 in U-loop 133 lower end pass through screw fastening; U-loop 133 upper end in second elbow joint plate 202 other end in elbow joint motion mechanism and forearm and wrist joints sporting mechanism 1, by screw fastening, achieves the connection of elbow joint motion mechanism 2 and forearm and wrist joints sporting mechanism 1 in this way.
In the present embodiment, described elbow joint motor 214 axle drives the 3rd elbow joint belt pulley 210 to rotate around rotating shaft J5, by elbow joint belt 209 transmission, first elbow joint plate 201 and the second elbow joint plate 202 rotate around J6 axle, described elbow joint motion mechanism 2 can realize the bent flexion/extension exhibition motion of elbow joint, and namely elbow joint rotates around rotating shaft J6.
In the present embodiment, the first described elbow joint plate 201, second elbow joint plate 202, first elbow joint half U-board 203, second elbow joint half U-board 204 being respectively provided with trip bolt, when moving, doing the spacing use of machine security.
As a preferred embodiment of the present invention, as shown in Figure 4, described humeral movement mechanism 3 comprises half-dome base 301, first semicircle cover plate 302, second semicircle cover plate 303, first arc-shaped guide rail external member 304, second arc-shaped guide rail external member 305, upper arm plate 306, first upper arm motor cabinet 307, second upper arm motor cabinet 308, upper arm motor 309, upper arm shaft coupling 310, upper arm bearing 311, upper arm axle 312, wire 313, first U-shaped baffle plate 314, second U-shaped baffle plate 315, first straight baffle plate 316, second straight baffle plate 317, upper arm bracing frame 318, first stand 319 and the second stand 320, wherein:
The track of first, second arc-shaped guide rail external member 304,305 to be fixed by screws on half-dome base 301 both sides and symmetrically mirror-image arrangement; The slide block of first, second arc-shaped guide rail external member 304,305 is separately fixed on the second, first semicircle cover plate 303,302; First, second stand 319,320 is separately fixed on first, second semicircle cover plate 302,303; Upper arm bracing frame 318 is fixed by screws on the first stand 319; The U-shaped baffle plate 315 of first U-shaped baffle plate 314, second is fixed by screws on the second, first semicircle cover plate 303,302; Half-dome base 301 and upper arm plate 306 pass through screw fastening; First, second upper arm motor cabinet 307,308 by screw fastening in upper arm plate 306; Upper arm motor 309 is placed in first, second upper arm motor cabinet 307,308; Upper arm motor 309 output shaft is connected by upper arm shaft coupling 310 with upper arm axle 312; Upper arm axle 312 is connected by upper arm bearing 311 with half-dome base 301; First straight baffle plate 316 two ends are fixed on the first stand 319 and the second stand 320 epimere respectively by screw, and the second straight baffle plate 317 two ends are separately fixed at the first stand 319 and the second stand 320 lower end by screw.
In the present embodiment, described humeral movement mechanism 3 can realize: under the drive of upper arm motor 309, and upper arm axle 312 rotates around rotating shaft J7, drives the medial rotation of shoulder joint/revolve outer motion: namely upper arm rotates around rotating shaft J8 by wire 313.
As a preferred embodiment of the present invention, as shown in Figure 5, described gravity compensation motion 4 comprises the first supporting rod seat 401, support bar 402, second supporting rod seat 403, first support frame component 404, second support frame component 405, 3rd support frame component 406, 4th support frame component 407, first cylindrical bar 408, second cylindrical bar 409, three cylindrical bar 410, axle 411, column tube 412, rotating seat 413, axle 414, bearing 415, first Upright post base 416, bearing 417, second Upright post base 418, bearing 419, back shaft 420 and bearing 421, wherein:
One end of support bar 402 is connected with axle 420 by bearing 421 with the first supporting rod seat 401, the other end is connected by axle with the second supporting rod seat 403; First supporting rod seat 401 to be enclosed within column tube 412 and to lock; Second supporting rod seat 403 is connected by bolt with the 4th support frame component 407 with the second support frame component 405; Second support frame component 405 is connected by bolt with the 4th support frame component 407; First support frame component 404 is connected by bolt with the 3rd support frame component 406; First cylindrical bar 408, second cylindrical bar 409 and three cylindrical bar 410 are clamped by bolt by the first support frame component 404 and the 3rd support frame component 406, second support frame component 405 and the 4th support frame component 407 respectively; First support frame component 404 is connected by bolt with one end of rotating seat 413 with the 3rd support frame component 406; The other end of rotating seat 413 connects column tube 412 by axle 411; Axle 411 is connected by bearing 414, bearing 415 with rotating seat 413, and rotating seat 413 can rotate around the axis of axle 411; The middle part of column tube 412 and bottom are separately installed with the first Upright post base 416, second Upright post base 418, and the first supporting rod seat 401 is between the first Upright post base 416, second Upright post base 418; First Upright post base 416, second Upright post base 418 is connected respectively by bearing 417, bearing 419 with column tube 412, and the first Upright post base 416, second Upright post base 418 can rotate around the axis of column tube 412;
The side of the first support frame component 404, second support frame component 405 and the upper arm plate 306 of humeral movement mechanism 3 of gravity compensation motion 4 are bolted fixing, thus realize the connection of gravity compensation motion 4 and humeral movement mechanism 3.
In the present embodiment, the side vertical direction correspondence position that the first described support frame component 404 side vertical direction correspondence position relative with the 3rd support frame component 406 is provided with groove, the second support frame component 405 relative with the 4th support frame component 407 is also provided with groove, and described first cylindrical bar 408, second cylindrical bar 409 and the left and right end of three cylindrical bar 410 to be positioned in described groove and to clamp.
In the present embodiment, described gravity compensation motion 4 can realize three effects:
1, according to stressed difference, for forearm and wrist joints sporting mechanism 1, elbow joint motion mechanism 2, humeral movement mechanism 3 provide elastic support with upper limb;
2, within the scope of elastic movement, the bent flexion/extension exhibition motion of shoulder joint is realized: shoulder joint rotates around rotating shaft J9;
3, simultaneously, the spin of the column tube 412 of gravity compensation motion 4, provides a passive freedom degree, auxiliary its indefinite axle center of shoulder joint self adaptation.
In the present embodiment, the described forearm be connected together and wrist joints sporting mechanism 1, elbow joint motion mechanism 2, humeral movement mechanism 3, can turn over turnback around the second cylindrical bar 409, provides change for left and right upper limb exchanges.
As a preferred embodiment of the present invention, as shown in Figure 6, described shoulder joint mechanism 5 comprises: shoulder joint motor 51, first shoulder joint support 52, second shoulder joint support 53, first shoulder joint stay pipe 54, universal wheel 55, wheel seat 56, the 3rd shoulder joint support 57, the 4th shoulder joint support 58 and the second shoulder joint stay pipe 59, wherein:
The output shaft of shoulder joint motor 51 and one end of the first shoulder joint support 52 fastening; The other end of the first shoulder joint support 52, one end of the second shoulder joint support 53 to be all enclosed within the first shoulder joint stay pipe 54 and to pass through bolt-locking; Wheel seat 56 is screwed in the bottom of the first shoulder joint stay pipe 54 by screw thread; Universal wheel 55 by screw fastening on wheel seat 56; One end of 3rd shoulder joint support 57 and the 4th shoulder joint support 58 is enclosed within the first shoulder joint stay pipe 54, the other end is enclosed within the second shoulder joint stay pipe 59 and pass through bolt-locking;
The second shoulder joint stay pipe 59 that first Upright post base 416, second Upright post base 418 of gravity compensation motion 4 is enclosed within shoulder joint kinesitherapy mechanism 5 is locked, thus realizes the connection of described shoulder joint kinesitherapy mechanism 5 and described gravity compensation motion 4.
In the present embodiment, described shoulder joint mechanism 5 can realize: shoulder joint motor 51 rotates around rotating shaft J10, and drive the outer pendulum/adduction motion of shoulder joint, now shoulder joint rotates around rotating shaft J10 in the horizontal plane.
As a preferred embodiment of the present invention, as shown in Figure 7, described chair mechanism 6 comprises seat frame 61, seat frame flat board 62, medicated cushion 63, back cushion 64, motor frame plate 65, seat axle 66 and motor cabinet 67, wherein:
Seat frame flat board 62 is fixed on seat frame 61; Medicated cushion 63 is placed on seat frame flat board 62; Back cushion 64 covers on the backrest of seat frame 61; Motor cabinet 67 is fixed on seat frame 61 side, and motor frame plate 65 is fixed by screws on motor cabinet 67; The ring flange of seat axle 66 is fixed by screws on seat frame flat board 62;
The shoulder joint motor 51 of shoulder joint kinesitherapy mechanism is placed in motor frame plate 65, and second shoulder joint support 53 other end of shoulder joint kinesitherapy mechanism 5 is enclosed within seat axle 66, thus realizes the connection of described shoulder joint kinesitherapy mechanism 5 and described chair mechanism 6.
In the present embodiment, the effect of described chair mechanism 6: provide user sitting posture to use, restriction user position, location shoulder joint is on rotating shaft J10.
To sum up, the present invention is by drive and control of electric machine, and auxiliary for hemiparalysis patient carries out active and passive exercise to upper limb suffering limb, comprising: carpal bent flexion/extension exhibition motion, carpal adduction/abduction exercise; The medial rotation of forearm/revolve outer motion; The bent flexion/extension exhibition motion of elbow joint; The bent flexion/extension exhibition motion of shoulder joint, medial rotation/revolve outer motion, outer pendulum/adduction motion.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion within the scope of the claims or amendment, this does not affect flesh and blood of the present invention.
Claims (9)
1. a seven freedom dermaskeleton type upper limb rehabilitation robot, is characterized in that, comprise successively be connected forearm and wrist joints sporting mechanism, elbow joint motion mechanism, humeral movement mechanism, gravity compensation motion, shoulder joint kinesitherapy mechanism, chair mechanism;
Described forearm and wrist joints sporting mechanism, auxiliary for hemiparalysis patient realizes the medial rotation of forearm/revolve outer motion, carpal bent flexion/extension exhibition motion, carpal adduction/abduction exercise to upper limb suffering limb;
Described elbow joint motion mechanism, auxiliary for hemiparalysis patient realizes the bent flexion/extension exhibition motion of elbow joint to upper limb suffering limb;
Described humeral movement mechanism, auxiliary for hemiparalysis patient realizes the medial rotation of shoulder joint/revolve outer motion to upper limb suffering limb;
Described gravity compensation motion: according to stressed difference, for the forearm that links together and wrist joints sporting mechanism, elbow joint motion mechanism, humeral movement mechanism and upper limb provide elastic support; Within the scope of elastic movement, realize the bent flexion/extension exhibition motion of shoulder joint, provide a passive freedom degree, auxiliary its indefinite axle center of shoulder joint self adaptation simultaneously;
Described shoulder joint kinesitherapy mechanism, auxiliary for hemiparalysis patient realizes the outer pendulum/adduction motion of shoulder joint to upper limb suffering limb;
Described chair mechanism, provides user sitting posture to use, restriction user position.
2. a kind of seven freedom dermaskeleton type upper limb rehabilitation robot according to claim 1, it is characterized in that, described forearm and wrist joints sporting mechanism, comprise holding rod, first knee, first axle, clutch shaft bearing, second knee, first belt pulley, first belt, second belt pulley, second axle, second bearing, shaft coupling, first motor cabinet, second motor cabinet, 3rd motor cabinet, first motor, 3rd knee, forearm plate, 3rd bearing, 3rd axle, 3rd belt pulley, second belt, 4th belt pulley, 4th axle, cylindrical bearing, first bevel gear, second bevel gear, second motor, 4th motor cabinet, 5th motor cabinet, 6th motor cabinet and U-loop, wherein: holding rod afterbody to insert in the first knee and fastening, it is fastening that first knee and the first belt pulley pass through the first axle, between the first axle and the second knee, clutch shaft bearing is housed, first motor cabinet, the second motor cabinet, the 3rd motor cabinet are fastened on the second knee, first motor is fixed in the first motor cabinet, the second motor cabinet, the 3rd motor cabinet, first motor is connected by shaft coupling with the second axle, second bearing is housed between the second axle and the second knee, second belt pulley is fixed on the second axle top, and the first belt is housed between the second belt pulley and the first belt pulley, 3rd knee one end and the second knee are fastenedly connected, the other end and the 3rd axle fastening, one end of the 3rd axle is fastening with the 3rd belt pulley, the other end is connected by the 3rd bearing with forearm plate, forearm plate inserts in U-loop, and the 4th axle is connected by cylindrical bearing with between the first bevel gear, and the first bevel gear is fastened in the 4th belt pulley, and the 4th the tip of the axis is fixed in U-loop notch, 3rd belt pulley is connected by the second belt with the 4th belt pulley, 4th motor cabinet, the 5th motor cabinet, the 6th motor cabinet are fastened on forearm plate, and the second motor is fixed in the 4th motor cabinet, the 5th motor cabinet, the 6th motor cabinet, and the second bevel gear is fastened on the second motor.
3. a kind of seven freedom dermaskeleton type upper limb rehabilitation robot according to claim 1, it is characterized in that, described elbow joint motion mechanism, comprise the first elbow joint plate, second elbow joint plate, first elbow joint half U-board, second elbow joint half U-board, first elbow joint bearing, second elbow joint bearing, first elbow joint axle, second elbow joint axle, first elbow joint belt pulley, second elbow joint belt pulley, elbow joint belt, elbow joint motor mounting, first elbow joint motor cabinet, second elbow joint motor cabinet, 3rd elbow joint belt pulley, elbow joint motor, wherein: one end of first elbow joint plate one end and the first elbow joint axle is fastening, the other end and the first elbow joint belt pulley of the first elbow joint axle are fastening, first elbow joint axle is connected by bearing with the first elbow joint half U-board, one end of second elbow joint plate one end and the second elbow joint axle is fastening, and the other end and the second elbow joint belt pulley of the second elbow joint axle are fastening, second elbow joint axle is connected by bearing fit with the second elbow joint half U-board, first elbow joint half U-board and the second elbow joint half U-board symmetry are fixed on elbow joint motor mounting, first elbow joint motor cabinet, the second elbow joint motor cabinet are fixed on elbow joint motor mounting, elbow joint motor is fixed in the first elbow joint motor cabinet, the second elbow joint motor cabinet, and the 3rd elbow joint belt pulley is fastened on elbow joint motor output end, second elbow joint belt pulley is connected by elbow joint belt with the 3rd elbow joint belt pulley, when elbow joint motor carries out upset switching installation, the 3rd elbow joint belt pulley be fixed thereon, the first elbow joint motor cabinet will be connected with the first elbow joint belt pulley by elbow joint belt.
4. a kind of seven freedom dermaskeleton type upper limb rehabilitation robot according to claim 3, it is characterized in that, the side vertical direction correspondence position that the first described support frame component side vertical direction correspondence position relative with the 3rd support frame component is provided with groove, the second support frame component relative with the 4th support frame component is also provided with groove, and the first cylindrical bar, the second cylindrical bar and the left and right end of three cylindrical bar to be positioned in described groove and to be clamped by securing member.
5. a kind of seven freedom dermaskeleton type upper limb rehabilitation robot according to claim 3, it is characterized in that, the first described elbow joint plate, the second elbow joint plate, the first elbow joint half U-board, the second elbow joint half U-board are respectively provided with securing member, for the machinery safe spacing when moving.
6. a kind of seven freedom dermaskeleton type upper limb rehabilitation robot according to claim 3, is characterized in that, described humeral movement mechanism, comprises half-dome base, first semicircle cover plate, second semicircle cover plate, first arc-shaped guide rail external member, second arc-shaped guide rail external member, upper arm plate, upper arm bracing frame, first stand, second stand, first straight baffle plate, second straight baffle plate, first U-shaped baffle plate, second U-shaped baffle plate, first upper arm motor cabinet, second upper arm motor cabinet, upper arm motor, upper arm shaft coupling, upper arm bearing, upper arm axle, wherein: first, the track of the second arc-shaped guide rail external member to be fixed on half-dome base both sides and symmetrically mirror-image arrangement, and first, the slide block of the second arc-shaped guide rail external member is separately fixed at second, on first semicircle cover plate, first, second stand is separately fixed at first, on second semicircle cover plate, upper arm bracing frame is fixed on the first stand, the first U-shaped baffle plate, second U-shaped baffle plate is fixed on second, on first semicircle cover plate, half-dome base and upper arm plate fastening, first, second upper arm motor cabinet is fastened on upper arm plate, and upper arm motor is placed in first, in second upper arm motor cabinet, upper arm motor output shaft is connected by upper arm shaft coupling with upper arm axle, and upper arm axle is connected by upper arm bearing with half-dome base, first straight baffle plate two ends are fixed on the first stand and the second stand upper end respectively by securing member, and the second straight baffle plate two ends are separately fixed at the first stand and the second stand lower end by securing member.
7. a kind of seven freedom dermaskeleton type upper limb rehabilitation robot according to any one of claim 1-6, it is characterized in that, described gravity compensation motion, comprises the first supporting rod seat, support bar, the second supporting rod seat, the first support frame component, the second support frame component, the 3rd support frame component, the 4th support frame component, the first cylindrical bar, the second cylindrical bar, three cylindrical bar, column tube, rotating seat, the first Upright post base, the second Upright post base; Wherein: one end of support bar is connected with the first supporting rod seat, the other end is connected with the second supporting rod seat; First supporting rod seat to be enclosed within column tube and to lock; Second supporting rod seat is connected with the 4th support frame component with the second support frame component; Second support frame component is connected with the 4th support frame component and cooperatively interacts, first support frame component is connected with the 3rd support frame component and cooperatively interacts, and the first cylindrical bar, the second cylindrical bar and three cylindrical bar are clamped by the first support frame component and the 3rd support frame component, the second support frame component and the 4th support frame component respectively; First support frame component is connected with one end of rotating seat with the 3rd support frame component, the other end of rotating seat connects column tube, the middle part of column tube and bottom are separately installed with the first Upright post base, the second Upright post base, and the first supporting rod seat is between the first Upright post base, the second Upright post base.
8. a kind of seven freedom dermaskeleton type upper limb rehabilitation robot according to any one of claim 1-6, it is characterized in that, described shoulder joint kinesitherapy mechanism, comprise shoulder joint motor, the first shoulder joint support, the second shoulder joint support, the first shoulder joint stay pipe, universal wheel, wheel seat, the 3rd shoulder joint support, the 4th shoulder joint support, the second shoulder joint stay pipe, wherein: one end of shoulder joint motor output shaft and the first shoulder joint support is fastening; The other end of the first shoulder joint support, one end of the second shoulder joint support to be all enclosed within the first shoulder joint stay pipe and to lock; Wheel seat is screwed in the bottom of the first shoulder joint stay pipe; Universal wheel is fastened on wheel seat; One end of 3rd shoulder joint support and the 4th shoulder joint support is enclosed within the first shoulder joint stay pipe, the other end is enclosed within the second shoulder joint stay pipe and lock.
9. a kind of seven freedom dermaskeleton type upper limb rehabilitation robot according to any one of claim 1-6, it is characterized in that, described chair mechanism, comprise seat frame, seat frame flat board, medicated cushion, back cushion, motor frame plate, seat axle and motor cabinet, wherein: seat frame flat board is fixed on seat frame; Medicated cushion is placed on seat frame flat board; Back cushion covers on the backrest of seat frame; Motor cabinet is fixed on seat frame side; Motor frame plate is fixed on motor cabinet; The ring flange of seat axle is fixed on seat frame flat board.
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| CN201410855081.3A CN104490565B (en) | 2014-12-26 | 2014-12-26 | Seven freedom dermaskeleton type upper limb rehabilitation robot |
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