CN104873360B - A kind of upper limb healing exoskeleton robot driving based on lasso trick - Google Patents
A kind of upper limb healing exoskeleton robot driving based on lasso trick Download PDFInfo
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- CN104873360B CN104873360B CN201510185858.4A CN201510185858A CN104873360B CN 104873360 B CN104873360 B CN 104873360B CN 201510185858 A CN201510185858 A CN 201510185858A CN 104873360 B CN104873360 B CN 104873360B
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Abstract
The invention discloses a kind of upper limb healing exoskeleton robot driving based on lasso trick, including pendulum/interior receipts joint outside wrist, anteflexion/after stretch joint, medial rotation/rotation extrinsic articulation, ancon is anteflexion/after stretch joint, shoulder is anteflexion/after stretch joint, outer pendulum/interior receipts joint, medial rotation/rotation extrinsic articulation and lasso trick driving means；Shoulder, ancon and wrist medial rotation/rotation extrinsic articulation are connected with the motor being fixed on support by lasso trick respectively, and driving moment is delivered to each joint by lasso trick；Pendulum/interior receipts joint and anteflexion outside wrist/after stretch joint and use motor direct-drive；Electric machine built-in encoder, is used for measuring the overall attitude of ectoskeleton；Wrist is provided with six-dimension force sensor, is used for measuring man-machine interaction power；Shoulder and ancon are provided with balancing spring, can realize the gravitational equilibrium of mechanism's entirety.This patent overcomes joint quality and the excessive problem of inertia, it is achieved light-weight design, effectively reduces power consumption, promotes security of system performance, and can realize multi-mode rehabilitation training.
Description
Technical field
The invention belongs to medical instruments field, relate to a kind of upper limb healing exoskeleton robot driving based on lasso trick.
Background technology
Cerebral apoplexy, also known as cerebrovas-cularaccident or apoplexy, is that the sudden nervous function being caused owing to the cerebrovascular is abnormal damages
Evil, has the advantages that the incidence of disease is high, the death rate is high, disability rate is high.According to health ministry statistics, the morbidity of cerebral apoplexy
Rate and the death rate increase with the age and rise rapidly.The patients with cerebral apoplexy sum of China has exceeded 8,000,000 cases, often at present
Year new cases 120～1,500,000, dead 80～1,000,000, the survivor of about 3/4 can due to kinesitherapy nerve impaired and
The hemiplegia in various degree causing, causes dyskinesia, has a strong impact on quality of life.
The treatment of Post-stroke hemiplegia and rehabilitation have become as the study hotspot of modern rehabilitation medicine and rehabilitation project.Research
Show, repeatable motion training is carried out to the Ipsilateral of hemiplegic patient, contribute to recovering nervous centralis and limb motion is propped up
Join and control, strengthen the muscle strength of patient, improve sports coordination, and can effectively enough prevent muscular atrophy, sclerotin
The syndrome such as loose.Traditional clinical method mainly includes the basic nursing of extreme early, the massage in mid-term, massage,
The acupuncture treatment etc. in later stage, based on these methods are mainly with free-hand rehabilitation, result for the treatment of is by treatment means and doctor
The impact of teacher's personal experience's difference, each doctor need to draw hemiplegic patient carry out according to man-to-man Therapeutic mode repeatedly
Rehabilitation training targetedly, therapeutic process needs to expend substantial amounts of energy and muscle power, and nursing cost is high.And it is whole
Training process is dull to be repeated, and patient is usually in passive state, and participation is low, can not select therapeutic modality and control
Treat custom, due to the collection of in real time feedback and visual data, doctor be not easy to understand in time its rehabilitation degree and
Effect
Upper limb healing exoskeleton system is a kind of auxiliary Robotics being introduced clinical rehabilitation medicine field and producing
Or substitute the robot system that doctor completes suffering limb rehabilitation training.Upper limb healing ectoskeleton can be worn on outside hemiplegic patient
Side, and carry out upper limbs accurate, lasting, effective to it and resume training treatment, solves that rehabilitation medical resource is nervous and people
Problem present in work training, the human cinology that simultaneously can also be obtained by sensory perceptual system measurement and physiological data,
Help physiatrician to assess conditions of patients more accurately, improve and optimize rehabilitation scheme providing objective basis for doctor.
In the patent of invention of Patent No. CN102151215B, disclose a kind of upper limbs exoskeleton-type rehabilitation mechanical
Arm, by shoulder c-type outside track bearing, rail slider, on the shoulders connecting rod, upper arm connecting rod, forearm connecting rod, hand
Wrist annular outside track bearing, wrist swinging connecting rod and handle are constituted, and can realize the motion of 7 frees degree.But due to this
Invention is not provided with driving element, therefore independently cannot carry out Rehabilitation Training in Treating to patient.
In the patent of invention of Patent No. CN103948485A, disclose a kind of dermaskeleton type upper limb rehabilitation machine
People, is made up of drive part, running part, executable portion, skimulated motion therapy can carry out rehabilitation training.But should
Patent can be only done elbow joint anteflexion/after stretch and the outer two kinds of motor patterns of forearm medial rotation/rotation, be unfavorable for other joints of upper limbs
Rehabilitation.
In the patent of invention of Patent No. CN102119902B, disclose a kind of 7 wearable free degree upper limbs
Exercise rehabilitation training ectoskeleton.This invention can realize the rehabilitation training in any joint of patient's upper limbs, and can gather each
The kinematics in individual joint and dynamics data.But, this patent is installed in driving motor on joint, makes ectoskeleton
Entirety has bigger quality, inertia and volume, and the entirety adding system is born a heavy burden, power consumption and to driving element
Performance requirement, reduce control accuracy, and suffering limb can be brought in the system failure or abnormal power-down to fall when generation
The potential safety hazard falling.
Therefore, for above-mentioned technical problem, it is necessary to provide a kind of upper limb healing ectoskeleton machine having and optimizing structure
People, to overcome drawbacks described above.
Content of the invention
Technical problem: the present invention provides a kind of rehabilitation training of upper limbs being primarily adapted for use in hemiplegic patient, simple in construction, be
The good upper limb healing exoskeleton robot driving based on lasso trick of low in energy consumption, the security of uniting.
Technical scheme: the upper limb healing exoskeleton robot driving based on lasso trick of the present invention, including the wrist being sequentially connected with
Pendulum/interior receipts joint outside portion, wrist is anteflexion/after stretch joint, wrist medial rotation/rotation extrinsic articulation, ancon is anteflexion/after stretch joint, shoulder
Portion is anteflexion/after stretch joint, pendulum/interior receipts joint outside shoulder, shoulder medial rotation/rotation extrinsic articulation and respectively with the rotation of described wrist
In/rotation extrinsic articulation, ancon is anteflexion/after stretch joint, shoulder is anteflexion/after stretch joint, pendulum/interior receipts joint and shoulder revolve outside shoulder
In/the lasso trick driving means that connects of rotation extrinsic articulation, described ancon is anteflexion/after stretch joint also with shoulder medial rotation/rotation extrinsic articulation company
Connect.Outside wrist pendulum/interior receipts joint include end effector handle, six-dimension force sensor, the first joint drive take-off lever,
First joint motor and the first joint ring flange, end effector handle is fixed by the top of bolt and six-dimension force sensor
Connecting, the fixing connection in outer end of bolt and the first joint drive take-off lever, the first joint are passed through in six-dimension force sensor bottom
Motor is connected by the inner of bolt and the first joint drive take-off lever is fixing, the rotating shaft of the first joint motor by key with
The endoporus of shaft end ring and the first joint ring flange is fixing to be connected, and makes the first joint drive take-off lever and the first joint flange
Dish constitutes the first revolute pair.Wrist is anteflexion/after stretch joint include second joint drive take-off lever, second joint ring flange,
Second joint motor, wrist the first adjusting rod and wrist the second adjusting rod, second joint drives one end of take-off lever to pass through
The outer rim of bolt and the first joint ring flange is fixing to be connected, and the other end is solid with the outer rim of second joint ring flange by bolt
Fixed connection, second joint motor is connected by bolt and wrist the first adjusting rod are fixing, and the rotating shaft of second joint motor is led to
Cross that the endoporus of key and shaft end ring and second joint ring flange is fixing to be connected, make wrist the first adjusting rod and second joint method
Blue dish constitutes the second revolute pair, and wrist the first adjusting rod and wrist the second adjusting rod are respectively arranged with groove, wrist first
Pass through bolt after the groove horizontal alignment of adjusting rod and wrist the second adjusting rod, constitute a moving sets, then use nut
Screw connected.Wrist medial rotation/rotation extrinsic articulation includes that the 3rd joint drive output ring, the 3rd joint loads end hawser are solid
Locking member, the 3rd arthrodesis ring, the 3rd joint casing fixture, the 3rd joint casing and the 3rd joint steel wire rope, the
The outside of three joint drive output rings is provided with ring-shaped groove, and is fixed by the end of bolt and wrist the second adjusting rod
Connecting, the 3rd arthrodesis ring passes through bearing and the 3rd joint drive output ring connects, and constitutes the 3rd revolute pair, the
It is provided with stepped hole on three joint casing fixtures, and connected by the outside of bolt and the 3rd arthrodesis ring is fixing,
One end of 3rd joint casing and the stepped hole on the 3rd joint casing fixture are fixedly connected with, and the other end drives dress with lasso trick
Putting and being connected, the 3rd joint loads end hawser fixture passes through bolt and the fixing connection of the 3rd joint drive output ring,
One end of 3rd joint steel wire rope embeds the ring-shaped groove of the 3rd joint drive output ring, and with the 3rd joint loads end steel
Silk rope fixture is fixing to be connected, and the other end passes through the stepped hole on the 3rd joint casing fixture and the 3rd joint casing
It is connected with lasso trick driving means after endoporus, it is achieved power transmits.Ancon is anteflexion/after stretch joint and include front armed lever, logical
Cross bearing and shaft end ring be connected to the first auxiliary rotating shaft of described front armed lever, the first auxiliary connecting rod, the second auxiliary rotating shaft,
Second auxiliary connecting rod, the first balancing spring, upper arm bandage, upper arm adjusting rod, upper armed lever, pass through bearing and axle head gear
Circle is connected to the 3rd of described upper armed lever and assists rotating shaft, ancon housing, the 4th joint casing fixture, the 4th joint to bear
Carry roller, the 4th joint steel wire rope, the 4th joint casing, ancon rotating shaft, the second balancing spring and balance adjustment bolt,
One end of front armed lever is connected by bolt is simultaneously fixing with the 3rd arthrodesis ring and the 3rd joint casing fixture, another
End is connected with ancon rotating shaft by key, and ancon rotating shaft is connected with ancon housing by bearing, and constitutes the 4th revolute pair,
One end of first auxiliary connecting rod is connected with the first auxiliary rotating shaft, and the other end is turned by bearing, shaft end ring, the second auxiliary
One end of axle and the second auxiliary connecting rod connects, and the other end of the second auxiliary connecting rod and the 3rd auxiliary rotating shaft connect the second auxiliary
One end that connecting rod and the second auxiliary rotating shaft connect is connected with the first balancing spring bottom simultaneously, the top of the first balancing spring
Being connected with shoulder medial rotation/rotation extrinsic articulation, one end of upper arm adjusting rod and upper armed lever is respectively arranged with groove, and upper arm is adjusted
Pass through bolt after the groove horizontal alignment of pole and upper armed lever, constitute a moving sets, be then connected with nut,
The other end of upper armed lever is connected by bolt is fixing with the upside of ancon housing, the outside of described 4th joint loads roller
It is provided with ring-shaped groove, and be fixedly connected on the outside of ancon housing by key and shaft end ring and ancon rotating shaft, the 4th
It is provided with stepped hole on joint casing fixture, and be connected by bolt is fixing with the dorsal part of ancon housing, the 4th joint
One end of sleeve pipe is fixedly connected with the stepped hole on the 4th joint casing fixture, and the other end is connected with lasso trick driving means
Connecing, one end of the 4th joint steel wire rope embeds the ring-shaped groove of the 4th joint loads roller, and rolls with the 4th joint loads
Wheel is fixing to be connected, the other end pass through after the endoporus of the stepped hole on the 4th joint casing fixture and the 4th joint casing with
Lasso trick driving means is connected, it is achieved power transmits, and upper arm bandage is connected by bolt is fixing with the inner side of upper armed lever,
Balance adjustment bolt is disposed through the groove in the middle part of front armed lever, and is connected with nut, the one of the second balancing spring
End is connected with the bottom of ancon housing, and the other end is connected with balance adjustment bolt.Shoulder is anteflexion/after stretch joint and include
Five joint loads rollers, the 5th joint casing fixture, the 5th joint casing, the 5th joint steel wire rope, the 5th joint
Fixing bar and the 5th joint ring flange, the outside of the 5th joint loads roller is provided with ring-shaped groove, and by bolt with
The upper end of upper arm adjusting rod is fixing to be connected, and the outer rim of the 5th joint ring flange passes through the one of bolt and the 5th arthrodesis bar
End is fixing to be connected, and its endoporus passes through bearing and the 5th joint loads roller is connected, and constitutes the 5th revolute pair, and the 5th closes
Save and on sleeve fixing part, be provided with stepped hole, and be bolted on the outside of the 5th arthrodesis bar, the 5th joint
One end of sleeve pipe is fixedly connected with the stepped hole on the 5th joint casing fixture, and the other end is connected with lasso trick driving means
Connecing, one end of the 5th joint steel wire rope embeds the ring-shaped groove of the 5th joint loads roller, and rolls with the 5th joint loads
Wheel is fixing to be connected, the other end pass through after the endoporus of the stepped hole on the 5th joint casing fixture and the 5th joint casing with
Lasso trick driving means is connected, it is achieved power transmits.Outside shoulder pendulum/interior receipts joint include the 6th joint loads roller,
6th joint casing fixture, the 6th joint casing, the 6th joint steel wire rope, the 6th joint ring flange, the 6th joint
Fixing bar and the 6th joint adjusting rod, the outside of the 6th joint loads roller is provided with ring-shaped groove, and by bolt with
The other end of the 5th arthrodesis bar is fixing to be connected, and the outer rim of the 6th joint ring flange passes through bolt and the 6th arthrodesis
The lower end of bar is fixing to be connected, and its endoporus passes through bearing and the 6th joint loads roller is connected, and constitutes the 6th revolute pair,
Being provided with stepped hole on 6th joint casing fixture, and being fixedly installed on the inner side of the 6th arthrodesis bar, the 6th closes
One end of joint sleeve pipe is fixedly connected with the stepped hole on the 6th joint casing fixture, and the other end is connected with lasso trick driving means
Connecing, one end of the 6th joint steel wire rope embeds the ring-shaped groove of the 6th joint loads roller, and rolls with the 6th joint loads
Wheel is fixing to be connected, the other end pass through after the endoporus of the stepped hole on the 6th joint casing fixture and the 6th joint casing with
Lasso trick driving means is connected, it is achieved power transmits, under the upper end of the 6th arthrodesis bar and the 6th joint adjusting rod
End is respectively arranged with groove, passes through bolt after the groove horizontal alignment of the 6th arthrodesis bar and the 6th joint adjusting rod,
Constitute a moving sets, be then connected with nut.Shoulder medial rotation/rotation extrinsic articulation include the 7th joint loads roller,
7th joint ring flange, the 7th arthrodesis bar, the 7th joint casing fixture, the 7th joint casing and the 7th joint
Hawser, the outside of described 7th joint loads roller is provided with ring-shaped groove, and passes through bolt and the regulation of the 6th joint
The upper end of bar is fixing to be connected, and the bottom of the 7th joint loads roller is provided with the boss with through hole, and with the first equilibrium bomb
The top of spring is connected, and the outer rim of described 7th joint ring flange passes through bolt and the fixing connection of the 7th arthrodesis bar, its
Endoporus passes through bearing and the 7th joint loads roller is connected, and constitutes the 7th revolute pair, on the 7th joint casing fixture
It is provided with stepped hole, and be fixedly installed on bottom side, one end of the 7th joint casing and the 7th pass of the 7th arthrodesis bar
Stepped hole on joint sleeve fixing part is fixedly connected with, and the other end is connected with lasso trick driving means, the 7th joint steel wire rope
One end embeds the ring-shaped groove of the 7th joint loads roller, and fixing with the 7th joint loads roller is connected, and the other end is worn
It is connected with lasso trick driving means after the endoporus crossing the stepped hole on the 7th joint casing fixture and the 7th joint casing,
Realize that power transmits.Lasso trick driving means includes fixed support and the 3rd joint drive being arranged on described fixed support
Unit, the 4th joint drive unit, the 5th joint drive unit, the 6th joint drive unit, the 7th joint drive list
Unit, the 3rd joint drive unit and the 3rd joint casing and the 3rd joint steel wire rope be connected, the 4th joint drive unit with
4th joint casing and the 4th joint steel wire rope are connected, the 5th joint drive unit and the 5th joint casing and the 5th joint
Hawser is connected, and the 6th joint drive unit and the 6th joint casing and the 6th joint steel wire rope are connected, and the 7th joint is driven
Moving cell is connected by bolt and fixed support are fixing, and is connected with the 7th joint casing and the 7th joint steel wire rope, Gu
The top of fixed rack is fixing with the 7th arthrodesis bar to be connected.3rd joint drive unit include the 3rd joint motor,
Three joint drive rollers, the 3rd joint drive end hawser fixture, the 3rd joint pretension baffle plate, the 3rd joint motor
Fixed plate and pretension bolt, the 3rd joint motor is fixedly mounted in the 3rd joint motor fixed plate, the 3rd joint motor
Rotating shaft pass through that the installing hole in the middle part of the 3rd joint motor fixed plate is fixing with the 3rd joint drive roller to be connected, the 3rd pass
The outside of joint driving rolls is provided with ring-shaped groove, and the 3rd joint drive end hawser fixture is fixedly mounted on the 3rd pass
Joint driving rolls side, the 3rd joint pretension baffle plate and the 3rd joint motor fixed plate are respectively arranged with multiple parallel alignment
Groove, and with nut be connected, by both connect, pass through the 3rd joint pretension baffle plate lateral surface pretension bolt
Bottom be pressed on the side of the 3rd joint motor fixed plate, and the precession degree of depth can be regulated, on the 3rd joint pretension baffle plate
Being provided with stepped hole, one end of the 3rd joint casing is fixedly connected with the stepped hole on the 3rd joint pretension baffle plate, and the 3rd closes
One end of joint hawser sequentially passes through the stepped hole on the endoporus of the 3rd joint casing and the 3rd joint pretension baffle plate, and embedding
Enter the ring-shaped groove of the 3rd joint drive roller, then fix with the 3rd joint drive end hawser fixture and be connected.
In the preferred version of the present invention, outside described wrist pendulum/interior receipts joint the first revolute pair extended line, wrist is anteflexion/
After stretch joint the 3rd revolute pair extended line of the second revolute pair extended line and wrist medial rotation/rotation extrinsic articulation intersect at people
Body wrist joint set-point W.
In the preferred version of the present invention, the 3rd revolute pair extended line of described wrist medial rotation/rotation extrinsic articulation, ancon is anteflexion/
After stretch the 4th revolute pair extended line in joint and intersect at human elbow set-point E.
In the preferred version of the present invention, described shoulder is anteflexion/after stretch the 5th revolute pair extended line in joint, pendulum outside shoulder/
7th revolute pair extended line of the 6th revolute pair extended line in interior receipts joint and shoulder medial rotation/rotation extrinsic articulation intersects at people
Body shoulder joint set-point S.
In the preferred version of the present invention, described first auxiliary connecting rod and upper armed lever keeping parallelism, the second auxiliary connecting rod and front
Armed lever keeping parallelism.
In the preferred version of the present invention, described 3rd joint drive unit, the 4th joint drive unit, the 5th joint are driven
Moving cell, the 6th joint drive unit and the 7th joint drive unit have identical structure.
In the preferred version of the present invention, all built-in high-precision encoder of described each joint motor, dermoskeleton can be measured in real time
The each joint of bone and the kinematics parameters of entirety, wrist is provided with six-dimension force sensor, can measure human hands in real time
And the reciprocal force between ectoskeleton, can realize Trajectory Tracking Control in conjunction with kinematics parameters and reciprocal force information, and power is shown
Religion control, impedance control, the actively different rehabilitation training pattern such as control.
In the preferred version of the present invention, the distance between described each joint can be adjusted according to the stature of patient, with
It is applicable to different patient, it is ensured that the harmony of wearing and comfortableness.
In the preferred version of the present invention, rigidity and the installation site of described first balancing spring and the second balancing spring are
Calculate gained according to ectoskeletal physical parameter, it is possible to achieve the gravitational equilibrium of integrated model, be placed in forearm by adjusting
The position of the balance adjustment bolt in the groove of bar can eliminate and adjust caused balance error owing to closing interval.
Energy auxiliary for hemiparalysis patient of the present invention carries out upper limb shoulder joint, elbow joint and wrist joint rehabilitation training, this ectoskeleton machine
The form that device people uses lasso trick to drive realizes driving motor to separate with ectoskeletal, simplifies overall construction design, reduces fortune
The quality of dynamic component and inertia, and realize the overall gravitational equilibrium of mechanism by adding balancing spring, reduce system power dissipation,
And can prevent the potential safety hazard such as to fall due to power-off, the suffering limb that causes of crashing.
Beneficial effect: compared with prior art, the invention have the advantages that
(1) driver part is directly installed on the movable joint of robot by traditional exoskeleton robot, and mechanism is overall
Heaviness, power consumption is big.The present invention realizes driving motor to separate with ectoskeleton joint by way of using lasso trick and driving,
Driver part can be disposed away from the electric machine support of ectoskeleton range of movement, effectively reduces the quality of movable joint and is used to
Amount, it is achieved lightweight structure designs, and improves control performance and the security performance of system.
(2) traditional exoskeleton robot does not consider to realize overall the putting down of ectoskeleton by adding balanced controls mode
Weighing apparatus is stable.The present invention realizes that by way of adding balancing spring at ectoskeleton ancon and shoulder the gravity of mechanism's entirety is put down
Weighing apparatus, eliminates the impact that gravity brings, and reduces power consumption in rehabilitation training for the ectoskeleton, and effectively prevents owing to being
System fault or the suffering limb brought of abnormal power-down such as are fallen at the potential safety hazard.
(3) traditional exoskeleton robot can only draw the rehabilitation training that suffering limb carries out entirely passive type, training mode
Single, it is unfavorable for the raising of rehabilitation efficacy.The present invention is by combining by measured by encoder and six-dimension force sensor
Kinematics parameters and reciprocal force information, formulate the rehabilitation training control plan of various modes for the patient of different degree of paralysis
Slightly, including Trajectory Tracking Control, power teaching control, impedance control, actively control etc., switched by rational pattern
Realize the maximization of training effect.
Brief description
Fig. 1 is the overall structure schematic diagram of the present invention.
Fig. 2 be pendulum/interior receipts joint outside the wrist in the present invention, anteflexion/after stretch joint and medial rotation/rotation extrinsic articulation structural representation
Figure.
Fig. 3 be the ancon in the present invention anteflexion/after stretch articulation structure schematic diagram.
Fig. 4 be the shoulder in the present invention anteflexion/after stretch joint, outer pendulum/interior receipts joint and medial rotation/rotation extrinsic articulation structural representation
Figure.
Fig. 5 is the lasso trick driving means structural scheme of mechanism in the present invention.
Fig. 6 is the 3rd joint drive unit structural scheme of mechanism in the present invention.
Figure has: outside wrist pendulum/interior receipts joint the 1st, wrist anteflexion/after stretch joint the 2nd, wrist medial rotation/rotation extrinsic articulation the 3rd, elbow
Portion is anteflexion/after stretch joint the 4th, shoulder anteflexion/after stretch outside the 5th, the shoulder of joint that pendulum/interior receipts joint the 6th, shoulder medial rotation/rotation is outer closes
Joint the 7th, lasso trick driving means the 8th, end effector handle the 101st, six-dimension force sensor the 102nd, the first joint drive take-off lever
103rd, the first joint motor the 104th, the first joint ring flange the 105th, second joint drives take-off lever the 201st, second joint
The 205th, ring flange the 202nd, second joint motor the 203rd, wrist the first adjusting rod the 204th, wrist the second adjusting rod the 3rd closes
Joint drives output ring the 301st, the 3rd joint loads end hawser fixture the 302nd, the 3rd arthrodesis ring the 303rd, the 3rd to close
Joint sleeve fixing part the 304th, the 3rd joint casing the 305th, the 3rd joint steel wire rope the 306th, front armed lever the 401st, the first auxiliary
Rotating shaft the 402nd, the first auxiliary connecting rod the 403rd, second auxiliary rotating shaft the 404th, the second auxiliary connecting rod the 405th, the first balancing spring
406th, upper arm bandage the 407th, upper arm adjusting rod the 408th, upper armed lever the 409th, the 3rd auxiliary rotating shaft the 410th, ancon housing is the 411st,
4th joint casing fixture the 412nd, the 4th joint loads roller the 413rd, the 4th joint steel wire rope the 414th, the 4th joint sleeve
Pipe the 415th, ancon rotating shaft the 416th, the second balancing spring the 417th, balance adjustment bolt the 418th, the 5th joint loads roller is the 501st,
5th joint casing fixture the 502nd, the 5th joint casing the 503rd, the 5th joint steel wire rope the 504th, the 5th arthrodesis bar
505th, the 5th joint ring flange the 506th, the 6th joint loads roller the 601st, the 6th joint casing fixture the 602nd, the 6th
Joint casing the 603rd, the 6th joint steel wire rope the 604th, the 6th joint ring flange the 605th, the 6th arthrodesis bar 606 and
Six joint adjusting rods the 607th, the 7th joint loads roller the 701st, the 7th joint ring flange the 702nd, the 7th arthrodesis bar
703rd, the 7th joint casing fixture the 704th, the 7th joint casing the 705th, the 7th joint steel wire rope the 706th, the 3rd joint
Driver element the 81st, the 4th joint drive unit the 82nd, the 5th joint drive unit the 83rd, the 6th joint drive unit is the 84th,
7th joint drive unit the 85th, fixed support the 86th, the 3rd joint motor the 811st, the 3rd joint drive roller the 812nd,
Three joint drive end hawser fixtures the 813rd, the 3rd joint pretension baffle plate the 814th, the 3rd joint motor fixed plate is the 815th,
Pretension bolt 816.
Detailed description of the invention
Below in conjunction with embodiment and Figure of description, describe technical scheme in detail.
As shown in Figures 1 to 6, a kind of upper limb healing exoskeleton robot driving based on lasso trick, this mechanism includes depending on
Outside the wrist of secondary connection pendulum/interior receipts joint the 1st, wrist anteflexion/after stretch joint the 2nd, wrist medial rotation/rotation extrinsic articulation the 3rd, ancon before
Bend/after stretch joint the 4th, shoulder anteflexion/after stretch outside the 5th, the shoulder of joint pendulum/interior receipts joint the 6th, shoulder medial rotation/rotation extrinsic articulation the 7th,
And and respectively with described wrist medial rotation/rotation extrinsic articulation the 3rd, ancon is anteflexion/after stretch joint the 4th, shoulder anteflexion/after stretch
The lasso trick driving means 8 that outside the 5th, the shoulder of joint, pendulum/interior receipts joint 6 and shoulder medial rotation/rotation extrinsic articulation 7 connect, described elbow
Portion is anteflexion/after stretch joint 4 and be also connected with shoulder medial rotation/rotation extrinsic articulation 7.
Outside wrist, pendulum/interior receipts joint 1 includes end effector handle the 101st, six-dimension force sensor the 102nd, the first joint drive
Take-off lever the 103rd, the first joint motor 104 and the first joint ring flange 105, end effector handle 101 passes through bolt
Fixing with the top of six-dimension force sensor 102 and being connected, six-dimension force sensor 102 bottom is driven by bolt and the first joint
The outer end of dynamic take-off lever 103 is fixing to be connected, and the first joint motor 104 passes through bolt and the first joint drive take-off lever 103
The inner fixing connect, key and shaft end ring and the first joint ring flange 105 are passed through in the rotating shaft of the first joint motor 104
Endoporus fixing connect, make the first joint drive take-off lever 103 and the first joint ring flange 105 constitute the first revolute pair
J1, it is achieved outside wrist, pendulum/interior receipts is moved；Wrist is anteflexion/after stretch joint 2 and include that second joint drives take-off lever the 201st, the
Two joint ring flanges the 202nd, second joint motor the 203rd, wrist the first adjusting rod 204 and wrist the second adjusting rod 205,
Second joint drives one end of take-off lever 201 to pass through the fixing connection of outer rim of bolt and the first joint ring flange 105, separately
One end is connected by the outer rim of bolt and second joint ring flange 202 is fixing, second joint motor 203 pass through bolt and
Wrist the first adjusting rod 204 is fixing to be connected, and the rotating shaft of second joint motor 203 is passed through key and shaft end ring and second and closed
The endoporus of joint ring flange 202 is fixing to be connected, and makes wrist the first adjusting rod 204 and second joint ring flange 202 constitute the
Two revolute pairs J2, it is achieved wrist is anteflexion/after stretch motion, wrist the first adjusting rod 204 and wrist the second adjusting rod 205
It is respectively arranged with groove, pass through after the groove horizontal alignment of wrist the first adjusting rod 204 and wrist the second adjusting rod 205
Bolt, constitutes a moving sets, is then connected with nut；Wrist medial rotation/rotation extrinsic articulation 3 includes the 3rd joint
Drive output ring the 301st, the 3rd joint loads end hawser fixture the 302nd, the 3rd arthrodesis ring the 303rd, the 3rd joint
Sleeve fixing part the 304th, the 3rd joint casing 305 and the 3rd joint steel wire rope 306, the 3rd joint drive output ring 301
Outside be provided with ring-shaped groove, and be connected by bolt is fixing with the end of wrist the second adjusting rod 205, the 3rd pass
Joint retainer ring 303 is connected by bearing and the 3rd joint drive output ring 301, and constitutes the 3rd revolute pair J3, it is achieved
The outer motion of wrist medial rotation/rotation, the 3rd joint casing fixture 304 is provided with stepped hole, and passes through bolt and the 3rd
The outside of arthrodesis ring 303 is fixing to be connected, one end of the 3rd joint casing 305 and the 3rd joint casing fixture 304
On stepped hole be fixedly connected with, the other end is connected with lasso trick driving means 8, the 3rd joint loads end hawser fixture
302 pass through bolt and the fixing connection of the 3rd joint drive output ring 301, and one end of the 3rd joint steel wire rope 306 embeds
The ring-shaped groove of the 3rd joint drive output ring 301, and fixing even with the 3rd joint loads end hawser fixture 302
Connect, the other end pass through after the endoporus of the stepped hole on the 3rd joint casing fixture 304 and the 3rd joint casing 305 with
Lasso trick driving means 8 is connected, it is achieved power transmits；Ancon is anteflexion/after stretch joint 4 and include that the 401st, front armed lever passes through
Bearing and shaft end ring are connected to first auxiliary rotating shaft the 402nd, the first auxiliary connecting rod of described front armed lever 401 the 403rd, the
Two auxiliary rotating shaft the 404th, the second auxiliary connecting rod the 405th, the first balancing spring the 406th, upper arm bandage the 407th, upper arm adjusting rods
408th, the 410th, the 409th, upper armed lever be connected to the 3rd auxiliary rotating shaft of described upper armed lever 409 by bearing and shaft end ring
Ancon housing the 411st, the 4th joint casing fixture the 412nd, the 4th joint loads roller the 413rd, the 4th joint steel wire rope
414th, the 4th joint casing the 415th, ancon rotating shaft the 416th, the second balancing spring 417 and balance adjustment bolt 418, front
Bolt and the 3rd arthrodesis ring 303 and the fixing connection of the 3rd joint casing fixture 304 are passed through in one end of armed lever 401,
The other end is connected with ancon rotating shaft 416, and ancon rotating shaft 416 is connected with ancon housing 411 by bearing, and constitutes the
Four revolute pairs J4, it is achieved ancon is anteflexion/after stretch motion, one end of the first auxiliary connecting rod 403 with first auxiliary rotating shaft 402
Connecting, the other end is by one end of bearing, shaft end ring, the second auxiliary rotating shaft 404 and the second auxiliary connecting rod 405 even
Connecing, the other end of the second auxiliary connecting rod 405 and the 3rd auxiliary rotating shaft 410 connect, the second auxiliary connecting rod 405 and second
One end that auxiliary rotating shaft 404 connects is connected with the first balancing spring 406 bottom simultaneously, the top of the first balancing spring 406
End is connected with shoulder medial rotation/rotation extrinsic articulation 7, and one end of upper arm adjusting rod 408 and upper armed lever 409 is respectively arranged with
Groove, passes through bolt, constitutes a moving sets after the groove horizontal alignment of upper arm adjusting rod 408 and upper armed lever 409,
Then being connected with nut, the other end of upper armed lever 409 is connected by bolt is fixing with the upside of ancon housing 411,
The outside of the 4th joint loads roller 413 is provided with ring-shaped groove, and passes through key and shaft end ring and ancon rotating shaft 416
It is fixedly connected on the outside of ancon housing 411, the 4th joint casing fixture 412 is provided with stepped hole, and passes through
Bolt is fixing with the dorsal part of ancon housing 411 to be connected, and one end of the 4th joint casing 415 and the 4th joint casing are fixed
Stepped hole on part 412 is fixedly connected with, and the other end is connected with lasso trick driving means 8, the 4th joint steel wire rope 414
One end embeds the ring-shaped groove of the 4th joint loads roller 413, and fixing with the 4th joint loads roller 413 is connected,
The other end pass through after the endoporus of the stepped hole on the 4th joint casing fixture 412 and the 4th joint casing 415 with lasso trick
Driving means 8 is connected, it is achieved power transmits, and upper arm bandage 407 is fixed by the inner side of bolt and upper armed lever 409
Connecting, balance adjustment bolt 418 is disposed through the groove in the middle part of front armed lever 401, and is connected with nut, the
One end of two balancing springs 417 is connected with the bottom of ancon housing 411, and the other end is connected with balance adjustment bolt 418；
Shoulder is anteflexion/after stretch joint 5 and include the 5th joint loads roller the 501st, the 5th joint casing fixture the 502nd, the 5th pass
Joint sleeve pipe the 503rd, the 5th joint steel wire rope the 504th, the 5th arthrodesis bar 505 and the 5th joint ring flange 506, the 5th
The outside of joint loads roller 501 is provided with ring-shaped groove, and is fixed by the upper end of bolt and upper arm adjusting rod 408
Connecting, the outer rim of the 5th joint ring flange 506 passes through the fixing connection in one end of bolt and the 5th arthrodesis bar 505,
Its endoporus passes through bearing and the 5th joint loads roller 501 is connected, and constitutes the 5th revolute pair J5, it is achieved shoulder is anteflexion
Stretch motion after/, the 5th joint casing fixture 502 is provided with stepped hole, and is bolted on the 5th joint
The outside of fixing bar 505, one end of the 5th joint casing 503 and the stepped hole on the 5th joint casing fixture 502
Being fixedly connected with, the other end is connected with lasso trick driving means 8, and one end of the 5th joint steel wire rope 504 embeds the 5th joint
The ring-shaped groove of load rollers 501, and fixing with the 5th joint loads roller 501 is connected, the other end passes through the 5th and closes
It is connected with lasso trick driving means 8 after the endoporus of the stepped hole on joint sleeve fixing part 502 and the 5th joint casing 503,
Realize that power transmits；Outside shoulder, pendulum/interior receipts joint 6 includes that the 6th joint loads roller the 601st, the 6th joint casing is fixed
Part the 602nd, the 6th joint casing the 603rd, the 6th joint steel wire rope the 604th, the 6th joint ring flange the 605th, the 6th joint is solid
Fixed pole 606 and the 6th joint adjusting rod 607, the outside of the 6th joint loads roller 601 is provided with ring-shaped groove, and
Being connected by the other end of bolt and the 5th arthrodesis bar 505 is fixing, the outer rim of the 6th joint ring flange 605 is passed through
The lower end of bolt and the 6th arthrodesis bar 606 is fixing to be connected, and its endoporus passes through bearing and the 6th joint loads roller
601 are connected, and constitute the 6th revolute pair J6, it is achieved outside shoulder, pendulum/interior receipts is moved, the 6th joint casing fixture 602
On be provided with stepped hole, and be fixedly installed on the inner side of the 6th arthrodesis bar 606, the one of the 6th joint casing 603
End is fixedly connected with the stepped hole on the 6th joint casing fixture 602, and the other end is connected with lasso trick driving means 8,
One end of 6th joint steel wire rope 604 embeds the ring-shaped groove of the 6th joint loads roller 601, and bears with the 6th joint
Carrying the fixing connection of roller 601, the other end passes through stepped hole and the 6th joint sleeve on the 6th joint casing fixture 602
It is connected with lasso trick driving means 8 after the endoporus of pipe 603, it is achieved power transmits, the 6th arthrodesis bar 606 upper
The lower end of end and the 6th joint adjusting rod 607 is respectively arranged with groove, and the 6th arthrodesis bar 606 and the 6th joint are adjusted
Pass through bolt after the groove horizontal alignment of pole 607, constitute a moving sets, be then connected with nut；Shoulder
Medial rotation/rotation extrinsic articulation 7 includes the 7th joint loads roller the 701st, the 7th joint ring flange the 702nd, the 7th arthrodesis bar
703rd, the 7th joint casing fixture the 704th, the 7th joint casing 705 and the 7th joint steel wire rope 706, the 7th joint
The outside of load rollers 701 is provided with ring-shaped groove, and is fixed by the upper end of bolt and the 6th joint adjusting rod 607
Connecting, the bottom of the 7th joint loads roller 701 is provided with the boss with through hole, and with the first balancing spring 406
Top is connected, and the outer rim of the 7th joint ring flange 702 passes through bolt and the fixing connection of the 7th arthrodesis bar 703, its
Endoporus passes through bearing and the 7th joint loads roller 701 is connected, and constitutes the 7th revolute pair J7, it is achieved and shoulder medial rotation/
The outer motion of rotation, the 7th joint casing fixture 704 is provided with stepped hole, and is fixedly installed on the 7th arthrodesis bar
The bottom side of 703, one end of the 7th joint casing 705 and the stepped hole on the 7th joint casing fixture 704 be fixedly connected with,
The other end is connected with lasso trick driving means 8, and one end of the 7th joint steel wire rope 706 embeds the 7th joint loads roller
The ring-shaped groove of 701, and fixing with the 7th joint loads roller 701 is connected, the other end passes through the 7th joint casing and consolidates
It is connected with lasso trick driving means 8 after the endoporus of the stepped hole in locking member 704 and the 7th joint casing 705, it is achieved dynamic
Power is transmitted；Lasso trick driving means 8 includes that fixed support 86 and the 3rd joint being arranged on described fixed support 86 are driven
Moving cell the 81st, the 4th joint drive unit the 82nd, the 5th joint drive unit the 83rd, the 6th joint drive unit the 84th,
Seven joint drive units 85, the 3rd joint drive unit 81 and the 3rd joint casing 305 and the 3rd joint steel wire rope 306
Being connected, the 4th joint drive unit 82 is connected with the 4th joint casing 415 and the 4th joint steel wire rope 414, and the 5th
Joint drive unit 83 is connected with the 5th joint casing 503 and the 5th joint steel wire rope 504, the 6th joint drive list
Unit 84 is connected with the 6th joint casing 603 and the 6th joint steel wire rope 604, the 7th joint drive unit 85 and the 7th
Joint casing 705 is connected with the 7th joint steel wire rope 706, the top of fixed support 86 and the 7th arthrodesis bar 703
Fixing connection；3rd joint drive unit 81 includes the 3rd joint motor the 811st, the 3rd joint drive roller the 812nd,
Three joint drive end hawser fixture the 813rd, the 3rd joint pretension baffle plate the 814th, the 3rd joint motor fixed plates 815
With pretension bolt 816, the 3rd joint motor 811 is fixedly mounted in the 3rd joint motor fixed plate 815, and the 3rd closes
The rotating shaft of joint motor 811 passes through the installing hole in the middle part of the 3rd joint motor fixed plate 815 and the 3rd joint drive roller
812 fixing connections, the outside of the 3rd joint drive roller 812 is provided with ring-shaped groove, the 3rd joint drive end steel wire
Rope fixture 813 is fixedly mounted on the 3rd joint drive roller 812 side, the 3rd joint pretension baffle plate 814 and the 3rd
Joint motor fixed plate 815 is respectively arranged with the groove of multiple parallel alignment, and is connected with nut, connects both
Connecing, it is solid that the bottom of the pretension bolt 816 passing through the 3rd joint pretension baffle plate 814 lateral surface is pressed on the 3rd joint motor
Determine the side of plate 815, and the precession degree of depth can be regulated, the 3rd joint pretension baffle plate 814 is provided with stepped hole, the 3rd
One end of joint casing 305 is fixedly connected with the stepped hole on the 3rd joint pretension baffle plate 814, the 3rd joint steel wire rope 306
One end sequentially pass through the stepped hole on the endoporus of the 3rd joint casing 305 and the 3rd joint pretension baffle plate 814, and embedding
Enter the ring-shaped groove of the 3rd joint drive roller 812, then fix with the 3rd joint drive end hawser fixture 813
Connecting, the precession degree of depth of regulation pretension bolt 816 can change the 3rd joint steel wire rope 306 at the 3rd joint pretension gear
Length between plate 814 and the 3rd joint motor fixed plate 815, and then change system pretightning force, it is ensured that the 3rd joint
Hawser 306 is in tensioning state in transmission process, prevents relaxation.
Further, as in figure 2 it is shown, outside wrist pendulum/interior receipts joint 1 the first revolute pair J1 extended line, wrist is anteflexion/
After stretch the second revolute pair J2 extended line in joint 2 and the 3rd revolute pair J3 extended line of wrist medial rotation/rotation extrinsic articulation 3
Intersect at human body wrist joint set-point W.
Further, as it is shown on figure 3, the 3rd revolute pair J3 extended line of wrist medial rotation/rotation extrinsic articulation 3, ancon is anteflexion/
After stretch the 4th revolute pair J4 extended line in joint 4 and intersect at human elbow set-point E.
Further, as shown in Figure 4, shoulder anteflexion/after stretch the 5th revolute pair J5 extended line in joint 5, pendulum outside shoulder/
The 6th revolute pair J6 extended line in interior receipts joint 6 and the 7th revolute pair J7 extended line of shoulder medial rotation/rotation extrinsic articulation 7
Intersect at human body shoulder joint set-point S.
Further, as it is shown on figure 3, during rehabilitation exercise, the first auxiliary connecting rod 403 and upper armed lever 409 keep
Parallel, the second auxiliary connecting rod 405 and front armed lever 401 keeping parallelism.
Further, as shown in Figure 6, the 3rd joint drive unit the 81st, the 4th joint drive unit the 82nd, the 5th joint
Driver element the 83rd, the 6th joint drive unit 84 and the 7th joint drive unit 85 have identical structure；
Further, all built-in high-precision encoder of each joint motor, can measure each joint of ectoskeleton and entirety in real time
Kinematics parameters, end effector handle 101 is provided with six-dimension force sensor 102, can measure human hands in real time
And the reciprocal force between ectoskeleton, can realize Trajectory Tracking Control in conjunction with kinematics parameters and reciprocal force information, and power is shown
Religion control, impedance control, the actively different rehabilitation training pattern such as control.
Further, as shown in Figures 1 to 4, the distance between described each joint can be by changing the first adjusting rod 204
Relative position and with the relative position of wrist the second adjusting rod 205, upper arm adjusting rod 408 and upper armed lever 409
Six arthrodesis bars 606 are adjusted with the relative position of the 6th joint adjusting rod 607, to be applicable to different stature
Patient, it is ensured that the harmony of wearing and comfortableness.
Further, as shown in Figure 3, Figure 4, the rigidity of described first balancing spring 406 and the second balancing spring 417
And installation site is for calculating gained according to ectoskeletal physical parameter, it is possible to achieve the gravitational equilibrium of integrated model, logical
The position crossing the balance adjustment bolt 418 adjusting in the groove being placed in front armed lever 401 can eliminate owing to closing interval tune
Whole caused balance error.
The above-mentioned work process based on the upper limb healing exoskeleton robot of lasso trick driving is: the hand of patient passes through the 3rd
The endoporus of joint drive output ring 301, and end effector handle 101 of holding with a firm grip.Adjust wrist the first adjusting rod 204 He
The relative position of wrist the second adjusting rod 205, before making the rotary shaft extended line in pendulum/interior receipts joint 1 outside wrist, wrist
Bend/after stretch joint 2 the rotary shaft extended line of rotary shaft extended line and wrist medial rotation/rotation extrinsic articulation 3 intersect at human body
Wrist joint set-point.Adjust the relative position of the 6th arthrodesis bar 606 and the 6th joint adjusting rod 607, make shoulder
Anteflexion/after stretch the rotary shaft extended line in joint 5, the rotary shaft extended line in pendulum/interior receipts joint 6 and shoulder rotation outside shoulder
The rotary shaft extended line of interior/rotation extrinsic articulation 7 intersects at human body shoulder joint set-point.Adjust upper arm adjusting rod 408 and upper
The relative position of armed lever 409, make the rotary shaft extended line of wrist medial rotation/rotation extrinsic articulation 3 and ancon anteflexion/after stretch joint
The rotary shaft extended line of 4 intersects at human elbow set-point.Patient's upper arm is adjacent to armed lever 409, and passes through upper arm
Bandage 407 tightens with upper armed lever 409 and is connected.According to each pass interval, adjust balance adjustment bolt 418, it is achieved outer
The overall gravitational equilibrium of bone.According to patient's degree of paralysis, rehabilitation training pattern, control system collection, analysis, place are set
Manage each joint encoders and the transducing signal of six-dimension force sensor 102, and control lasso trick driving means 8 and drive dermoskeleton
The each joint of bone, auxiliary patient carries out rehabilitation training.
The innovation of the present invention is, the mode utilizing lasso trick to drive realizes driving motor to separate with ectoskeleton joint,
Effectively reduce quality and the inertia of movable joint, it is achieved lightweight structure designs, improve control performance and the safety of system
Performance.Realize the gravitational equilibrium of mechanism's entirety by way of adding balancing spring, reduce ectoskeleton in rehabilitation training
Power consumption in journey, effectively prevention the potential safety hazard such as are fallen by suffering limb that the system failure or abnormal power-down are brought.Pass through
In conjunction with the kinematics parameters between man-machine and reciprocal force information, the patient for different degree of paralysis formulates multi-mode rehabilitation
Training Control strategy, is realized the maximization of rehabilitation training effect by the switching of rational pattern.
Below it is only the preferred embodiment of the present invention, it should be pointed out that: those skilled in the art are come
Saying, under the premise without departing from the principles of the invention, can also make some improvement and equivalent, these are to the present invention
Claim improve with equivalent after technical scheme, each fall within protection scope of the present invention.
Claims (6)
1. the upper limb healing exoskeleton robot driving based on lasso trick, it is characterised in that this robot includes depending on
Pendulum/interior receipts joint (1) outside the wrist of secondary connection, wrist is anteflexion/after stretch joint (2), wrist medial rotation/rotation extrinsic articulation (3),
Ancon is anteflexion/after stretch joint (4), shoulder is anteflexion/after stretch joint (5), pendulum/interior receipts joint (6), shoulder rotation outside shoulder
In/rotation extrinsic articulation (7) and respectively with described wrist medial rotation/rotation extrinsic articulation (3), ancon is anteflexion/after stretch joint (4),
Shoulder is anteflexion/after stretch joint (5), pendulum/interior receipts joint (6) and shoulder medial rotation/rotation extrinsic articulation (7) connect outside shoulder
Lasso trick driving means (8), described ancon is anteflexion/after stretch joint (4) and be also connected with shoulder medial rotation/rotation extrinsic articulation (7)；
Outside described wrist pendulum/interior receipts joint (1) include end effector handle (101), six-dimension force sensor (102),
First joint drive take-off lever (103), the first joint motor (104) and the first joint ring flange (105), described
End effector handle (101) is connected by bolt is fixing with the top of six-dimension force sensor (102), described six-dimensional force
The fixing connection in outer end of bolt and the first joint drive take-off lever (103) is passed through in the bottom of sensor (102), described
First joint motor (104) is connected by the inner of bolt and the first joint drive take-off lever (103) is fixing, and first
The fixing connection of endoporus of key and shaft end ring and the first joint ring flange (105) is passed through in the rotating shaft of joint motor (104),
The first joint drive take-off lever (103) and the first joint ring flange (105) is made to constitute the first revolute pair (J1)；
Described wrist is anteflexion/after stretch joint (2) include second joint drive take-off lever (201), second joint ring flange
(202), second joint motor (203), wrist the first adjusting rod (204) and wrist the second adjusting rod (205),
Described second joint drives one end of take-off lever (201) to pass through bolt and the outer rim of the first joint ring flange (105) is solid
Fixed connection, the other end is connected by bolt is fixing with the outer rim of second joint ring flange (202), described second joint
Motor (203) is connected by bolt and wrist the first adjusting rod (204) are fixing, second joint motor (203)
Rotating shaft is connected by key and shaft end ring are fixing with the endoporus of second joint ring flange (202), makes wrist first regulate
Bar (204) and second joint ring flange (202) constitute the second revolute pair (J2)；Described wrist the first adjusting rod (204)
Being respectively arranged with groove with wrist the second adjusting rod (205), wrist the first adjusting rod (204) and wrist second are regulated
Pass through bolt after the groove horizontal alignment of bar (205), constitute a moving sets, be then connected with nut；
Described wrist medial rotation/rotation extrinsic articulation (3) includes the 3rd joint drive output ring (301), the 3rd joint loads end
Hawser fixture (302), the 3rd arthrodesis ring (303), the 3rd joint casing fixture (304), the 3rd pass
Joint sleeve pipe (305) and the 3rd joint steel wire rope (306), the outside of described 3rd joint drive output ring (301) sets
Being equipped with ring-shaped groove, and being connected by bolt is fixing with the end of wrist the second adjusting rod (205), the described 3rd closes
Joint retainer ring (303) passes through bearing and the 3rd joint drive output ring (301) connects, and constitutes the 3rd revolute pair (J3),
It is provided with stepped hole on described 3rd joint casing fixture (304), and pass through bolt and the 3rd arthrodesis ring (303)
Outside fixing connect, one end of described 3rd joint casing (305) with on the 3rd joint casing fixture (304)
Stepped hole be fixedly connected with, the other end is connected with lasso trick driving means (8), described 3rd joint loads end hawser
Fixture (302) passes through bolt and the fixing connection of the 3rd joint drive output ring (301), described 3rd joint steel wire
One end of rope (306) embeds the ring-shaped groove of the 3rd joint drive output ring (301), and with the 3rd joint loads end
Hawser fixture (302) is fixing to be connected, and the other end passes through the stepped hole on the 3rd joint casing fixture (304)
It is connected with lasso trick driving means (8) with after the endoporus of the 3rd joint casing (305)；
Described ancon is anteflexion/after stretch joint (4) and include front armed lever (401), be connected to institute by bearing and shaft end ring
State front armed lever (401) first auxiliary rotating shaft (402), the first auxiliary connecting rod (403), second auxiliary rotating shaft (404),
Second auxiliary connecting rod (405), the first balancing spring (406), upper arm bandage (407), upper arm adjusting rod (408),
Upper armed lever (409), be connected to by bearing and shaft end ring described upper armed lever (409) the 3rd auxiliary rotating shaft (410),
Ancon housing (411), the 4th joint casing fixture (412), the 4th joint loads roller (413), the 4th joint
Hawser (414), the 4th joint casing (415), ancon rotating shaft (416), the second balancing spring (417) peace
Weighing apparatus regulation bolt (418), one end of described front armed lever (401) by bolt simultaneously with the 3rd arthrodesis ring (303)
The fixing connection with the 3rd joint casing fixture (304), the other end is connected with ancon rotating shaft (416), described ancon
Rotating shaft (416) is connected with ancon housing (411) by bearing, and constitutes the 4th revolute pair (J4), and described first
One end of auxiliary connecting rod (403) with first auxiliary rotating shaft (402) is connected, the other end pass through bearing, shaft end ring,
Second auxiliary rotating shaft (404) is connected with one end of the second auxiliary connecting rod (405), the second auxiliary connecting rod (405)
The other end and the 3rd auxiliary rotating shaft (410) connect, described second auxiliary connecting rod (405) and the second auxiliary rotating shaft (404)
The one end connecting is connected with the first balancing spring (406) bottom simultaneously, the top of described first balancing spring (406)
It is connected with shoulder medial rotation/rotation extrinsic articulation (7), one end of described upper arm adjusting rod (408) and upper armed lever (409)
It is respectively arranged with groove, after the groove horizontal alignment of upper arm adjusting rod (408) and upper armed lever (409), pass through bolt,
Constituting a moving sets, being then connected with nut, the other end of described upper armed lever (409) passes through bolt and elbow
The upside of portion's housing (411) is fixing to be connected, and the outside of described 4th joint loads roller (413) is provided with annular ditch
Groove, and it is fixedly connected on the outside of ancon housing (411), institute by key and shaft end ring with ancon rotating shaft (416)
State and on the 4th joint casing fixture (412), be provided with stepped hole, and by the back of the body of bolt and ancon housing (411)
Side is fixing to be connected, one end of described 4th joint casing (415) and the platform on the 4th joint casing fixture (412)
Hole, rank is fixedly connected with, and the other end is connected with lasso trick driving means (8), the one of described 4th joint steel wire rope (414)
The ring-shaped groove of the embedded 4th joint loads roller (413) of end, and fix even with the 4th joint loads roller (413)
Connecing, the other end passes through the interior of the stepped hole on the 4th joint casing fixture (412) and the 4th joint casing (415)
Kong Houyu lasso trick driving means (8) is connected；
Described shoulder is anteflexion/after stretch joint (5) and include that the 5th joint loads roller (501), the 5th joint casing are fixed
Part (502), the 5th joint casing (503), the 5th joint steel wire rope (504), the 5th arthrodesis bar (505)
With the 5th joint ring flange (506), the outside of described 5th joint loads roller (501) is provided with ring-shaped groove,
And be connected by bolt is fixing with the upper end of upper arm adjusting rod (408), outside described 5th joint ring flange (506)
Edge passes through the fixing connection in one end of bolt and the 5th arthrodesis bar (505), and its endoporus passes through bearing and the 5th joint
Load rollers (501) is connected, and constitutes the 5th revolute pair (J5), described 5th joint casing fixture (502)
On be provided with stepped hole, and be bolted on the outside of the 5th arthrodesis bar (505), described 5th joint
One end of sleeve pipe (503) is fixedly connected with the stepped hole on the 5th joint casing fixture (502), the other end and lasso trick
Driving means (8) is connected, and one end of described 5th joint steel wire rope (504) embeds the 5th joint loads roller (501)
Ring-shaped groove, and fixing with the 5th joint loads roller (501) is connected, the other end passes through the 5th joint casing and consolidates
It is connected with lasso trick driving means (8) after the endoporus of the stepped hole in locking member (502) and the 5th joint casing (503)
Connect；
Outside described shoulder, pendulum/interior receipts joint (6) includes that the 6th joint loads roller (601), the 6th joint casing are fixed
Part (602), the 6th joint casing (603), the 6th joint steel wire rope (604), the 6th joint ring flange (605),
6th arthrodesis bar (606) and the 6th joint adjusting rod (607), described 6th joint loads roller (601)
Outside is provided with ring-shaped groove, and is connected by the other end of bolt and the 5th arthrodesis bar (505) is fixing, institute
The outer rim stating the 6th joint ring flange (605) passes through the fixing connection in lower end of bolt and the 6th arthrodesis bar (606),
Its endoporus is connected by bearing and the 6th joint loads roller (601), and constitutes the 6th revolute pair (J6), and described the
It is provided with stepped hole on six joint casing fixtures (602), and be fixedly installed on the 6th arthrodesis bar (606)
Inner side, one end of described 6th joint casing (603) and the stepped hole phase on the 6th joint casing fixture (602)
Being connected, the other end is connected with lasso trick driving means (8), and one end of described 6th joint steel wire rope (604) embeds
The ring-shaped groove of the 6th joint loads roller (601), and fixing with the 6th joint loads roller (601) be connected, separately
One end pass through after the endoporus of the stepped hole on the 6th joint casing fixture (602) and the 6th joint casing (603) with
Lasso trick driving means (8) is connected, the upper end of described 6th arthrodesis bar (606) and the 6th joint adjusting rod (607)
Lower end be respectively arranged with groove, the groove water of the 6th arthrodesis bar (606) and the 6th joint adjusting rod (607)
Pass through bolt after flat alignment, constitute a moving sets, be then connected with nut；
Described shoulder medial rotation/rotation extrinsic articulation (7) includes the 7th joint loads roller (701), the 7th joint ring flange
(702), the 7th arthrodesis bar (703), the 7th joint casing fixture (704), the 7th joint casing (705)
With the 7th joint steel wire rope (706), the outside of described 7th joint loads roller (701) is provided with ring-shaped groove,
And connected by the upper end of bolt and the 6th joint adjusting rod (607) is fixing, the 7th joint loads roller (701)
Bottom is provided with the boss with through hole, and is connected with the top of the first balancing spring (406), described 7th armlocks techniques
The outer rim of blue dish (702) is connected by bolt and the 7th arthrodesis bar (703) are fixing, its endoporus pass through bearing and
7th joint loads roller (701) is connected, and constitutes the 7th revolute pair (J7), described 7th joint casing fixture
(704) being provided with stepped hole on, and being fixedly installed on the bottom side of the 7th arthrodesis bar (703), the described 7th closes
One end of joint sleeve pipe (705) is fixedly connected with the stepped hole on the 7th joint casing fixture (704), the other end and set
Rope driving means (8) is connected, and one end of described 7th joint steel wire rope (706) embeds the 7th joint loads roller
(701) ring-shaped groove, and fixing with the 7th joint loads roller (701) is connected, the other end is through the 7th joint
With lasso trick driving means (8) after the endoporus of the stepped hole on sleeve fixing part (704) and the 7th joint casing (705)
It is connected；
Described lasso trick driving means (8) includes fixed support (86) and is arranged on described fixed support (86)
3rd joint drive unit (81), the 4th joint drive unit (82), the 5th joint drive unit (83), the 6th
Joint drive unit (84), the 7th joint drive unit (85), described 3rd joint drive unit (81) and the 3rd
Joint casing (305) is connected with the 3rd joint steel wire rope (306), described 4th joint drive unit (82) and the
Four joint casings (415) are connected with the 4th joint steel wire rope (414), described 5th joint drive unit (83) with
5th joint casing (503) is connected with the 5th joint steel wire rope (504), described 6th joint drive unit (84)
It is connected with the 6th joint casing (603) and the 6th joint steel wire rope (604), described 7th joint drive unit (85)
It is connected with the 7th joint casing (705) and the 7th joint steel wire rope (706), the top of described fixed support (86)
Fix with the 7th arthrodesis bar (703) and be connected；
Described 3rd joint drive unit (81) include the 3rd joint motor (811), the 3rd joint drive roller (812),
3rd joint drive end hawser fixture (813), the 3rd joint pretension baffle plate (814), the 3rd joint motor are fixed
Plate (815) and pretension bolt (816), it is solid that described 3rd joint motor (811) is fixedly mounted on the 3rd joint motor
Determining on plate (815), the rotating shaft of the 3rd joint motor (811) passes through the 3rd joint motor fixed plate (815) middle part
Installing hole after fixing with the 3rd joint drive roller (812) be connected, described 3rd joint drive roller (812)
Outside is provided with ring-shaped groove, and described 3rd joint drive end hawser fixture (813) is fixedly mounted on the 3rd pass
Joint driving rolls (812) side, described 3rd joint pretension baffle plate (814) and the 3rd joint motor fixed plate (815)
It is respectively arranged with the groove of multiple parallel alignment, and is connected with nut, both are connected, pass through the 3rd joint pre-
The bottom of the pretension bolt (816) of tight baffle plate (814) lateral surface is pressed on the 3rd joint motor fixed plate (815)
Side, and the precession degree of depth can be regulated, the 3rd joint pretension baffle plate (814) be provided with stepped hole, the 3rd joint
One end of sleeve pipe (305) is fixedly connected with the stepped hole on the 3rd joint pretension baffle plate (814), the 3rd joint steel wire rope
(306) one end sequentially passes through on endoporus and the 3rd joint pretension baffle plate (814) of the 3rd joint casing (305)
Stepped hole, and the ring-shaped groove of embedded 3rd joint drive roller (812), then with the 3rd joint drive end steel
Silk rope fixture (813) is fixing to be connected.
2. according to a kind of upper limb healing exoskeleton robot driving based on lasso trick described in claim 1, its feature
Be, outside described wrist pendulum/interior receipts joint (1) the first revolute pair (J1) extended line, wrist is anteflexion/after stretch joint
(2) the second revolute pair (J2) extended line and the 3rd revolute pair (J3) of wrist medial rotation/rotation extrinsic articulation (3) are prolonged
Long line intersects at human body wrist joint set-point (W).
3. according to a kind of upper limb healing exoskeleton robot driving based on lasso trick described in claim 1, its feature
Be, the 3rd revolute pair (J3) extended line of described wrist medial rotation/rotation extrinsic articulation (3), ancon is anteflexion/after stretch joint
(4) the 4th revolute pair (J4) extended line intersects at human elbow set-point (E).
4. according to a kind of upper limb healing exoskeleton robot driving based on lasso trick described in claim 1, its feature
Be, described shoulder is anteflexion/after stretch the 5th revolute pair (J5) extended line in joint (5), pendulum/interior receipts joint outside shoulder
(6) the 6th revolute pair (J6) extended line and the 7th revolute pair (J7) of shoulder medial rotation/rotation extrinsic articulation (7) are prolonged
Long line intersects at human body shoulder joint set-point (S).
5. according to a kind of upper limb healing exoskeleton robot driving based on lasso trick described in claim 1, its feature
It is, described first auxiliary connecting rod (403) and upper armed lever (409) keeping parallelism, described second auxiliary connecting rod (405)
With front armed lever (401) keeping parallelism.
6. according to a kind of upper limb healing exoskeleton robot driving based on lasso trick described in claim 1, its feature
Be, described 3rd joint drive unit (81), the 4th joint drive unit (82), the 5th joint drive unit (83),
6th joint drive unit (84) and the 7th joint drive unit (85) have identical structure.
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