CN105055111A - Mechanical arm for exoskeleton rehabilitation training - Google Patents
Mechanical arm for exoskeleton rehabilitation training Download PDFInfo
- Publication number
- CN105055111A CN105055111A CN201510488210.4A CN201510488210A CN105055111A CN 105055111 A CN105055111 A CN 105055111A CN 201510488210 A CN201510488210 A CN 201510488210A CN 105055111 A CN105055111 A CN 105055111A
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- motor
- gear
- axle
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- bevel gear
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- 238000012549 training Methods 0.000 title claims abstract description 20
- 210000000245 forearm Anatomy 0.000 claims description 19
- 238000005452 bending Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000001537 neural effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
Abstract
The invention relates to a mechanical arm for exoskeleton rehabilitation training and belongs to the technical field of medical instruments. According to the mechanical arm, a motor I and a motor II are installed on a supporting plate. A shaft III of a shoulder supporting rod and a hollow shaft of a bevel gear II are connected with bearing holes in the supporting plate through bearings. A motor gear I and a motor gear II are connected with the motor II and the motor I respectively. A small gear is connected with the shaft III of the shoulder supporting rod. A large gear is connected with the hollow shaft of the bevel gear II. The shaft III of the shoulder supporting rod penetrates through the middle of the hollow shaft of the bevel gear II. A shaft I is matched with a shaft hole of the shoulder supporting rod. A bevel gear I and an upper arm are both fixedly connected with the shaft I. A fixing device I is arranged at the lower end of the upper arm. A front arm is fixedly connected with a shaft II and then is connected with the upper arm. A motor III is installed at the lower end of the upper arm. A motor gear III is installed on the motor III and meshed with a gear on the shaft II. A fixing device II is arranged at the lower end of the front arm. The mechanical arm for exoskeleton rehabilitation training is simple in structure, comprehensive in training function and easy to wear.
Description
Technical field
The present invention relates to a kind of exoskeleton rehabilitation training manipulator arm, belong to technical field of medical instruments.
Background technology
China just marches toward aging society, due to the hemiplegia that the nervous system disease such as apoplexy cause, extremity dysfunction etc., have a strong impact on the quality of life of patient, bring white elephant to society and family, the achievement in research of neural rehabilitation field shows, central nervous system has the plasticity of height, experimentation shows, in neural rehabilitation course, specific functional training is absolutely necessary, this research being rehabilitation system provides important medical science foundation, application light mechanical and electrical integration, development can improve the rehabilitation equipment of ill limb motion motility, there is important theoretical significance and actual application value.
Summary of the invention
The invention provides a kind of exoskeleton rehabilitation training manipulator arm, for the problem solving the arm function obstacle that old people causes because of disease.
Technical scheme of the present invention is: a kind of exoskeleton rehabilitation training manipulator arm, comprises motor I 1, motor II 2, gripper shoe 3, bearing 4, motor gear I 5, pinion 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, motor gear II 12, upper arm 13, fixture I 14, motor III 15, axle II 16, forearm 17, fixture II 18, motor gear III 19, gear 20, wherein motor I 1, motor II 2 is arranged in gripper shoe 3, axle III 9_2 of shoulder support bar 9 uses bearing 4 to be connected with the hollow axle 10_1 of bevel gear II 10 with the dead eye junction in gripper shoe 3, motor gear I 5, motor gear II 12 respectively with motor II 2, motor I 1 connects, pinion 6 is connected with axle III 9_2 of shoulder support bar 9, and pinion 6 engages with motor gear II 12, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 engages with motor gear I 5, axle III 9_2 of shoulder support bar 9 passes in the middle of the hollow axle 10_1 of bevel gear II 10, and can relatively rotate, axle I 11 coordinates with the axis hole 9_1 of shoulder support bar 9, and can freely rotate, bevel gear I 8 is all fixedly connected with axle I 11 with upper arm 13, and bevel gear I 8 engages with bevel gear II 10, upper arm 13 lower end is provided with fixture I 14, be connected with upper arm 13 after forearm 17 and axle II 16 are fixedly connected with, motor III 15 is arranged on upper arm 13 lower end, motor gear III 19 is arranged on motor III 15, motor gear III 19 engages with the gear 20 on axle II 16, forearm 17 lower end is provided with fixture II 18.
Describedly state fixture I 14 and fixture II 18 can regulate according to the size of arm, with fixing arm.
Mechanism controls upper arm 13 swing of described motor I 1, motor gear II 12, pinion 6, shoulder support bar 9 and axle I 11 composition.
Mechanism controls upper arm 13 sideshake that described motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 form.
The mechanism controls forearm 17 of described motor III 15, axle II 16, motor gear III 19, gear 20 composition is bending and stretch.
Use procedure of the present invention is:
This exoskeleton rehabilitation training manipulator arm is worn on patient's arm, patient or medical personnel will need the content input host computer of training, host computer sends instruction to real-time controller, controller drive motors moves, moment and displacement are delivered to target arm by Poewr transmission mechanism, and arm is moved by the motion mode of specifying, and ectoskeletal kinestate measured in real time by power, displacement, velocity sensor, and measurement data is fed back to controller, form close loop control circuit.
The invention has the beneficial effects as follows: structure is simple, training function is comparatively comprehensive, easily dresses; Adopt the combination of straight spur gear and bevel gear, solve two degree of freedom problems more rambunctious of shoulder dexterously.
Accompanying drawing explanation
Fig. 1 is front of the present invention overall structure schematic diagram;
Fig. 2 is side of the present invention overall structure schematic diagram;
Fig. 3 is shoulder controlling organization structural representation of the present invention;
Fig. 4 is elbow structure schematic diagram of the present invention;
Fig. 5 is shoulder support bar structural representation of the present invention;
Fig. 6 is bevel gear II structural representation of the present invention;
Each label in figure: 1-motor I, 2-motor II, 3-gripper shoe, 4-bearing, 5-motor gear I, 6-pinion, 7-gear wheel, 8-bevel gear I, 9-shoulder support bar, 9_1-axis hole, 9_2-axle III, 10-bevel gear II, 10_1-hollow axle, 11-axle I, 12-motor gear II, 13-upper arm, 14-fixture I, 15-motor III, 16-axle II, 17-forearm, 18-fixture II, 19-motor gear III, 20-gear.
Detailed description of the invention
Embodiment 1: as shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, comprises motor I 1, motor II 2, gripper shoe 3, bearing 4, motor gear I 5, pinion 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, motor gear II 12, upper arm 13, fixture I 14, motor III 15, axle II 16, forearm 17, fixture II 18, motor gear III 19, gear 20, wherein motor I 1, motor II 2 is arranged in gripper shoe 3, axle III 9_2 of shoulder support bar 9 uses bearing 4 to be connected with the hollow axle 10_1 of bevel gear II 10 with the dead eye junction in gripper shoe 3, motor gear I 5, motor gear II 12 respectively with motor II 2, motor I 1 connects, pinion 6 is connected with axle III 9_2 of shoulder support bar 9, and pinion 6 engages with motor gear II 12, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 engages with motor gear I 5, axle III 9_2 of shoulder support bar 9 passes in the middle of the hollow axle 10_1 of bevel gear II 10, and can relatively rotate, axle I 11 coordinates with the axis hole 9_1 of shoulder support bar 9, and can freely rotate, bevel gear I 8 is all fixedly connected with axle I 11 with upper arm 13, and bevel gear I 8 engages with bevel gear II 10, upper arm 13 lower end is provided with fixture I 14, be connected with upper arm 13 after forearm 17 and axle II 16 are fixedly connected with, motor III 15 is arranged on upper arm 13 lower end, motor gear III 19 is arranged on motor III 15, motor gear III 19 engages with the gear 20 on axle II 16, forearm 17 lower end is provided with fixture II 18.
Describedly state fixture I 14 and fixture II 18 can regulate according to the size of arm, with fixing arm.
Mechanism controls upper arm 13 swing of described motor I 1, motor gear II 12, pinion 6, shoulder support bar 9 and axle I 11 composition.
Mechanism controls upper arm 13 sideshake that described motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 form.
The mechanism controls forearm 17 of described motor III 15, axle II 16, motor gear III 19, gear 20 composition is bending and stretch.
Embodiment 2: as shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, comprises motor I 1, motor II 2, gripper shoe 3, bearing 4, motor gear I 5, pinion 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, motor gear II 12, upper arm 13, fixture I 14, motor III 15, axle II 16, forearm 17, fixture II 18, motor gear III 19, gear 20, wherein motor I 1, motor II 2 is arranged in gripper shoe 3, axle III 9_2 of shoulder support bar 9 uses bearing 4 to be connected with the hollow axle 10_1 of bevel gear II 10 with the dead eye junction in gripper shoe 3, motor gear I 5, motor gear II 12 respectively with motor II 2, motor I 1 connects, pinion 6 is connected with axle III 9_2 of shoulder support bar 9, and pinion 6 engages with motor gear II 12, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 engages with motor gear I 5, axle III 9_2 of shoulder support bar 9 passes in the middle of the hollow axle 10_1 of bevel gear II 10, and can relatively rotate, axle I 11 coordinates with the axis hole 9_1 of shoulder support bar 9, and can freely rotate, bevel gear I 8 is all fixedly connected with axle I 11 with upper arm 13, and bevel gear I 8 engages with bevel gear II 10, upper arm 13 lower end is provided with fixture I 14, be connected with upper arm 13 after forearm 17 and axle II 16 are fixedly connected with, motor III 15 is arranged on upper arm 13 lower end, motor gear III 19 is arranged on motor III 15, motor gear III 19 engages with the gear 20 on axle II 16, forearm 17 lower end is provided with fixture II 18.
Mechanism controls upper arm 13 swing of described motor I 1, motor gear II 12, pinion 6, shoulder support bar 9 and axle I 11 composition.
Mechanism controls upper arm 13 sideshake that described motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 form.
The mechanism controls forearm 17 of described motor III 15, axle II 16, motor gear III 19, gear 20 composition is bending and stretch.
Embodiment 3: as shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, comprises motor I 1, motor II 2, gripper shoe 3, bearing 4, motor gear I 5, pinion 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, motor gear II 12, upper arm 13, fixture I 14, motor III 15, axle II 16, forearm 17, fixture II 18, motor gear III 19, gear 20, wherein motor I 1, motor II 2 is arranged in gripper shoe 3, axle III 9_2 of shoulder support bar 9 uses bearing 4 to be connected with the hollow axle 10_1 of bevel gear II 10 with the dead eye junction in gripper shoe 3, motor gear I 5, motor gear II 12 respectively with motor II 2, motor I 1 connects, pinion 6 is connected with axle III 9_2 of shoulder support bar 9, and pinion 6 engages with motor gear II 12, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 engages with motor gear I 5, axle III 9_2 of shoulder support bar 9 passes in the middle of the hollow axle 10_1 of bevel gear II 10, and can relatively rotate, axle I 11 coordinates with the axis hole 9_1 of shoulder support bar 9, and can freely rotate, bevel gear I 8 is all fixedly connected with axle I 11 with upper arm 13, and bevel gear I 8 engages with bevel gear II 10, upper arm 13 lower end is provided with fixture I 14, be connected with upper arm 13 after forearm 17 and axle II 16 are fixedly connected with, motor III 15 is arranged on upper arm 13 lower end, motor gear III 19 is arranged on motor III 15, motor gear III 19 engages with the gear 20 on axle II 16, forearm 17 lower end is provided with fixture II 18.
By reference to the accompanying drawings the specific embodiment of the present invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from present inventive concept.
Claims (5)
1. an exoskeleton rehabilitation training manipulator arm, is characterized in that: comprise motor I (1), motor II (2), gripper shoe (3), bearing (4), motor gear I (5), pinion (6), gear wheel (7), bevel gear I (8), shoulder support bar (9), bevel gear II (10), axle I (11), motor gear II (12), upper arm (13), fixture I (14), motor III (15), axle II (16), forearm (17), fixture II (18), motor gear III (19), gear (20), wherein motor I (1), motor II (2) is arranged in gripper shoe (3), the axle III (9_2) of shoulder support bar (9) all uses bearing (4) to be connected with the hollow axle (10_1) of bevel gear II (10) and the dead eye junction in gripper shoe (3), motor gear I (5), motor gear II (12) respectively with motor II (2), motor I (1) connects, pinion (6) is connected with the axle III (9_2) of shoulder support bar (9), and pinion (6) engages with motor gear II (12), gear wheel (7) is connected with the hollow axle (10_1) of bevel gear II (10), and gear wheel (7) engages with motor gear I (5), the axle III (9_2) of shoulder support bar (9) passes in the middle of the hollow axle (10_1) of bevel gear II (10), and can relatively rotate, axle I (11) coordinates with the axis hole (9_1) of shoulder support bar (9), and can freely rotate, bevel gear I (8) is all fixedly connected with axle I (11) with upper arm (13), and bevel gear I (8) engages with bevel gear II (10), upper arm (13) lower end is provided with fixture I (14), be connected with upper arm (13) after forearm (17) and axle II (16) are fixedly connected with, motor III (15) is arranged on upper arm (13) lower end, motor gear III (19) is arranged on motor III (15), motor gear III (19) engages with the gear (20) on axle II (16), forearm (17) lower end is provided with fixture II (18).
2. exoskeleton rehabilitation training manipulator arm according to claim 1, is characterized in that: described in state fixture I (14) and fixture II (18) can regulate according to the size of arm, with fixing arm.
3. exoskeleton rehabilitation training manipulator arm according to claim 1 and 2, is characterized in that: mechanism controls upper arm (13) swing that described motor I (1), motor gear II (12), pinion (6), shoulder support bar (9) and axle I (11) form.
4. exoskeleton rehabilitation training manipulator arm according to claim 1 and 2, is characterized in that: mechanism controls upper arm (13) sideshake that described motor II (2), motor gear I (5), gear wheel (7), bevel gear I (8), bevel gear II (10) and axle I (11) form.
5. exoskeleton rehabilitation training manipulator arm according to claim 1 and 2, is characterized in that: the mechanism controls forearm (17) that described motor III (15), axle II (16), motor gear III (19), gear (20) form is bending and stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510488210.4A CN105055111B (en) | 2015-08-11 | 2015-08-11 | Mechanical arm for exoskeleton rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510488210.4A CN105055111B (en) | 2015-08-11 | 2015-08-11 | Mechanical arm for exoskeleton rehabilitation training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105055111A true CN105055111A (en) | 2015-11-18 |
| CN105055111B CN105055111B (en) | 2017-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510488210.4A Active CN105055111B (en) | 2015-08-11 | 2015-08-11 | Mechanical arm for exoskeleton rehabilitation training |
Country Status (1)
| Country | Link |
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| CN (1) | CN105055111B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181970A (en) * | 2016-08-23 | 2016-12-07 | 哈尔滨工大服务机器人有限公司 | A kind of Robot model |
| CN106378772A (en) * | 2016-11-28 | 2017-02-08 | 国网山东省电力公司济南市长清区供电公司 | Lever-principle-based wearable mechanical auxiliary arm for carrying |
| CN107847387A (en) * | 2015-07-06 | 2018-03-27 | 重新行走机器人技术有限公司 | Method and apparatus for ectoskeleton connection |
| CN108032295A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of mobile rotating mechanism for manipulator |
| CN111098293A (en) * | 2020-02-19 | 2020-05-05 | 孟子权 | Human exoskeleton, use method and application in bed, expressway and equipment maintenance |
| CN113018106A (en) * | 2021-03-31 | 2021-06-25 | 秦桥梁 | Shoulder neck massage appearance for department of neurology |
| CN113018105A (en) * | 2021-03-31 | 2021-06-25 | 秦桥梁 | Neurology shoulder and neck pain auxiliary treatment method |
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| CN1480119A (en) * | 2003-07-25 | 2004-03-10 | 清华大学 | Rehabilitation training robot for motion of single joint of hemiplegia patient |
| US20070225620A1 (en) * | 2006-03-23 | 2007-09-27 | Carignan Craig R | Portable Arm Exoskeleton for Shoulder Rehabilitation |
| EP2067462A1 (en) * | 2007-12-04 | 2009-06-10 | Istituto S. Anna di Ezio Pugliese s.r.l. | System and method for rehabilitation |
| CN202875743U (en) * | 2012-11-01 | 2013-04-17 | 上海理工大学 | Light-duty upper limb rehabilitation training device |
| CN104666049A (en) * | 2015-02-02 | 2015-06-03 | 南京理工大学 | Novel portable upper-limb rehabilitation robot |
| CN205019347U (en) * | 2015-08-11 | 2016-02-10 | 昆明理工大学 | Ectoskeleton rehabilitation training robotic arm |
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2015
- 2015-08-11 CN CN201510488210.4A patent/CN105055111B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1480119A (en) * | 2003-07-25 | 2004-03-10 | 清华大学 | Rehabilitation training robot for motion of single joint of hemiplegia patient |
| US20070225620A1 (en) * | 2006-03-23 | 2007-09-27 | Carignan Craig R | Portable Arm Exoskeleton for Shoulder Rehabilitation |
| EP2067462A1 (en) * | 2007-12-04 | 2009-06-10 | Istituto S. Anna di Ezio Pugliese s.r.l. | System and method for rehabilitation |
| CN202875743U (en) * | 2012-11-01 | 2013-04-17 | 上海理工大学 | Light-duty upper limb rehabilitation training device |
| CN104666049A (en) * | 2015-02-02 | 2015-06-03 | 南京理工大学 | Novel portable upper-limb rehabilitation robot |
| CN205019347U (en) * | 2015-08-11 | 2016-02-10 | 昆明理工大学 | Ectoskeleton rehabilitation training robotic arm |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107847387A (en) * | 2015-07-06 | 2018-03-27 | 重新行走机器人技术有限公司 | Method and apparatus for ectoskeleton connection |
| CN107847387B (en) * | 2015-07-06 | 2020-07-03 | 重新行走机器人技术有限公司 | Method and apparatus for exoskeleton coupling |
| CN106181970A (en) * | 2016-08-23 | 2016-12-07 | 哈尔滨工大服务机器人有限公司 | A kind of Robot model |
| CN106378772A (en) * | 2016-11-28 | 2017-02-08 | 国网山东省电力公司济南市长清区供电公司 | Lever-principle-based wearable mechanical auxiliary arm for carrying |
| CN108032295A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of mobile rotating mechanism for manipulator |
| CN111098293A (en) * | 2020-02-19 | 2020-05-05 | 孟子权 | Human exoskeleton, use method and application in bed, expressway and equipment maintenance |
| CN111098293B (en) * | 2020-02-19 | 2023-03-24 | 孟子权 | Human exoskeleton, use method and application in bed, expressway and equipment maintenance |
| CN113018106A (en) * | 2021-03-31 | 2021-06-25 | 秦桥梁 | Shoulder neck massage appearance for department of neurology |
| CN113018105A (en) * | 2021-03-31 | 2021-06-25 | 秦桥梁 | Neurology shoulder and neck pain auxiliary treatment method |
| CN113018105B (en) * | 2021-03-31 | 2022-08-23 | 马兴顺 | Department of neurology shoulder neck pain adjunctie therapy device |
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| CN105055111B (en) | 2017-04-12 |
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